MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio::behaviors::GetImage Class Referencefinal

Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port. More...

#include <get_image.hpp>

Inheritance diagram for moveit_studio::behaviors::GetImage:
Collaboration diagram for moveit_studio::behaviors::GetImage:

Public Member Functions

 GetImage (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 
- Public Member Functions inherited from moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::Image >
 GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 Constructs GetMessageFromTopicBehaviorBase using the RclcppSubscriberInterface. More...
 
 GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< SubscriberInterfaceBase > subscriber_interface)
 Constructs GetMessageFromTopicBehaviorBase using a user-provided implementation of SubscriberInterfaceBase. More...
 
virtual ~GetMessageFromTopicBehaviorBase ()=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 ()
 

Additional Inherited Members

- Static Public Attributes inherited from moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::Image >
static constexpr auto kPortIDTopicName
 Port names. More...
 
static constexpr auto kPortIDMessageOut
 
- 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< BehaviorContextshared_resources_
 

Detailed Description

Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port.

Data Port Name Port Type Object Type
topic_name input std::string
timeout_sec input double
message_out output sensor_msgs::msg::Image

Constructor & Destructor Documentation

◆ GetImage()

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

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::GetImage::metadata ( )
static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::GetImage::providedPorts ( )
static

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