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moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT > Class Template Reference
Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port. More...
#include <get_message_from_topic.hpp>
Inheritance diagram for moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >:
Collaboration diagram for moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >:
Classes | |
| class | RclcppSubscriberInterface |
| Implementation of the subscriber interface for a rclcpp subscription. More... | |
| class | SubscriberInterfaceBase |
| Defines an interface to a subscriber that blocks while waiting for a message to be received on a topic. More... | |
Public Member Functions | |
| 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 Attributes | |
| static constexpr auto | kPortIDTopicName = "topic_name" |
| Port names. More... | |
| static constexpr auto | kPortIDMessageOut = "message_out" |
Protected Member Functions | |
| virtual tl::expected< std::chrono::duration< double >, std::string > | getWaitForMessageTimeout () |
| Optional user-provided function to set the timeout used when waiting for a message to be received on the topic. More... | |
| Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase | |
| virtual std::shared_future< tl::expected< bool, std::string > > & | getFuture ()=0 |
| Gets the shared future which is used to monitor the progress of the async process. More... | |
| void | notifyCanHalt () |
| Called when runAsync() finishes to notify onHalted() that the async process has finished. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode > | |
| std::shared_ptr< BehaviorContext > | shared_resources_ |
Detailed Description
template<typename MessageT>
class moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >
Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port.
- Template Parameters
-
MessageT ROS message type used to specialize this class.
Constructor & Destructor Documentation
◆ GetMessageFromTopicBehaviorBase() [1/2]
template<typename MessageT >
| moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::GetMessageFromTopicBehaviorBase | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config, | ||
| const std::shared_ptr< BehaviorContext > & | shared_resources | ||
| ) |
Constructs GetMessageFromTopicBehaviorBase using the RclcppSubscriberInterface.
◆ GetMessageFromTopicBehaviorBase() [2/2]
template<typename MessageT >
| moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::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.
◆ ~GetMessageFromTopicBehaviorBase()
template<typename MessageT >
|
virtualdefault |
Member Function Documentation
◆ getWaitForMessageTimeout()
template<typename MessageT >
|
inlineprotectedvirtual |
Optional user-provided function to set the timeout used when waiting for a message to be received on the topic.
If no user-defined implementation is provided, the default implementation returns a negative duration, which will cause the subscriber to wait for the result without timing out.
- Returns
- Returns the message timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.
Member Data Documentation
◆ kPortIDMessageOut
template<typename MessageT >
|
staticconstexpr |
◆ kPortIDTopicName
template<typename MessageT >
|
staticconstexpr |
Port names.
The documentation for this class was generated from the following files:
