This Behavior sends a request to detach a tool from a robot for motion planning purposes. More...

#include <detach_tool.hpp>

Inheritance diagram for moveit_studio::behaviors::DetachTool:

Collaboration diagram for moveit_studio::behaviors::DetachTool:

Public Types
using	DetachToolSrv = moveit_studio_agent_msgs::srv::DetachTool

Public Member Functions
	DetachTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	DetachTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachToolSrv >> client_interface)

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachTool >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface. More...

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::DetachTool >> client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase. More...

virtual	~ServiceClientBehaviorBase ()=default

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart(). More...

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning(). More...

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted(). More...

void	resetStatus ()
	Resets the internal status of this node. More...

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kToolNamePort = "tool_name"

Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachTool >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachTool >
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished. More...

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished. More...

Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

This Behavior sends a request to detach a tool from a robot for motion planning purposes.

The tool with the given tool_name will be detached from the robot. The tool will no longer move with the robot and will not be considered in motion planning calculations.

Data Port Name	Port Type	Object Type
tool_name	input	std::string

Member Typedef Documentation

◆ DetachToolSrv

using moveit_studio::behaviors::DetachTool::DetachToolSrv = moveit_studio_agent_msgs::srv::DetachTool

Constructor & Destructor Documentation

◆ DetachTool() [1/2]

moveit_studio::behaviors::DetachTool::DetachTool	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

explicit

◆ DetachTool() [2/2]

moveit_studio::behaviors::DetachTool::DetachTool	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< DetachToolSrv >>	client_interface
	)

explicit

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::DetachTool::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::DetachTool::providedPorts ( )

static

Member Data Documentation

◆ kToolNamePort

constexpr auto moveit_studio::behaviors::DetachTool::kToolNamePort = "tool_name"

staticconstexpr

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members