Starts teleoperation by sending a goal to the teleoperation action server in the web UI. More...

#include <do_teleoperate_action.hpp>

Inheritance diagram for moveit_studio::behaviors::DoTeleoperateAction:

Collaboration diagram for moveit_studio::behaviors::DoTeleoperateAction:

Public Member Functions
	DoTeleoperateAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for DoTeleoperateAction behavior. More...

	DoTeleoperateAction (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase > client_interface)
	Overload for constructor which allows providing an alternate action client interface. Useful for unit testing, but not a requirement. More...

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

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

virtual	~ActionClientBehaviorBase ()=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 ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Public Types inherited from moveit_studio::behaviors::ActionClientBehaviorBase< DoTeleoperate >
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< DoTeleoperate >

Protected Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< DoTeleoperate >
virtual tl::expected< bool, std::string >	processResult (const std::shared_ptr< typename ActionT::Result >)
	Optional user-provided function to process the action result after the action has finished. More...

virtual void	processFeedback (const std::shared_ptr< const typename ActionT::Feedback >)
	Optional user-provided function to process feedback sent by the action server. More...

virtual std::string	getAbortedMessage (const std::shared_ptr< const typename ActionT::Result >) const
	Optional user-provided function to retrieve and surface an error message from an aborted action server result. 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

Starts teleoperation by sending a goal to the teleoperation action server in the web UI.

This goal contains configuration options for enabling user interactions and prompts, as well as setting the initial teleoperation mode for the UI to appear in. While the initial and current teleoperation modes are specified as integer values, these values correspond to the enumerations in the moveit_studio_sdk_msgs::msg::TeleoperationMode ROS message.

Data Port Name	Port Type	Object Type
enable_user_interaction	input	bool
user_interaction_prompt	input	std::string
initial_teleop_mode	input	int
current_teleop_mode	output	int

Constructor & Destructor Documentation

◆ DoTeleoperateAction() [1/2]

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

explicit

Constructor for DoTeleoperateAction behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

◆ DoTeleoperateAction() [2/2]

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

explicit

Overload for constructor which allows providing an alternate action client interface. Useful for unit testing, but not a requirement.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns: List of ports with the names and port info. The return value is for the internal use of the behavior tree.

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

Public Member Functions

Static Public Member Functions