Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to a Joint Trajectory With Admittance controller (JTAC). More...

#include <execute_trajectory_with_admittance.hpp>

Inheritance diagram for moveit_studio::behaviors::ExecuteTrajectoryWithAdmittance:

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Collaboration diagram for moveit_studio::behaviors::ExecuteTrajectoryWithAdmittance:

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Public Types
using	ActionType = moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance

Public Types inherited from moveit_studio::behaviors::ActionClientBehaviorBase< moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance >
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance >

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

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

	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.

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().

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

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

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

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.

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

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance >
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.

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

virtual std::string	getTimeoutMessage () const
	Optional user-provided function to retrieve and surface an error message when a timeout occurs before the goal result is returned.

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.

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

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

Detailed Description

Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to a Joint Trajectory With Admittance controller (JTAC).

Data Port Name	Port Type	Object Type
controller_action_name	Input	std::string
joint_trajectory_msg	Input	trajectory_msgs::msg::JointTrajectory
goal_position_tolerance	Input	double
path_position_tolerance	Input	double
absolute_force_torque_threshold	Input	std::vector<double>
admittance_parameters_msg	Input	moveit_pro_controllers_msgs::msg::AdmittanceParameters

Member Typedef Documentation

◆ ActionType

using moveit_studio::behaviors::ExecuteTrajectoryWithAdmittance::ActionType = moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance

Constructor & Destructor Documentation

◆ ExecuteTrajectoryWithAdmittance()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members