Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server. More...

#include <execute_mtc_task.hpp>

Inheritance diagram for moveit_studio::behaviors::ExecuteMTCTask:

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Collaboration diagram for moveit_studio::behaviors::ExecuteMTCTask:

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

Public Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< ExecuteTaskSolution >
	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 ()
	Required implementation of static providedPorts function. More...

static BT::KeyValueVector	metadata ()

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

Protected Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< ExecuteTaskSolution >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResultTimeout ()
	Optional user-provided function to set the timeout used when waiting for the action result. More...

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

Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution

Constructor & Destructor Documentation

◆ ExecuteMTCTask()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Required implementation of static providedPorts function.

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

Public Member Functions