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 >:

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Collaboration diagram for moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >:

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Public Member Functions
	GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs GetMessageFromTopicBehaviorBase using the RclcppSubscriberInterface.

	GetMessageFromTopicBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< SubscriberInterface< MessageT > > subscriber_interface)
	Constructs GetMessageFromTopicBehaviorBase using a user-provided implementation of SubscriberInterface.

	~GetMessageFromTopicBehaviorBase () override=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 Attributes
static constexpr auto	kPortIDTopicName = "topic_name"
	Port names.

static constexpr auto	kPortIDMessageOut = "message_out"

static constexpr auto	kPortIDTimeoutDuration = "timeout_sec"

static constexpr auto	kPortIDPublisherTimeoutDuration = "publisher_timeout_sec"

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.

virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForPublisherTimeout ()
	Optional user-provided function to set the timeout used when waiting for a publisher to advertise a topic.

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.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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< SubscriberInterface< MessageT > >	subscriber_interface
	)

Constructs GetMessageFromTopicBehaviorBase using a user-provided implementation of SubscriberInterface.

◆ ~GetMessageFromTopicBehaviorBase()

template<typename MessageT >

moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::~GetMessageFromTopicBehaviorBase ( )

overridedefault

Member Function Documentation

◆ getWaitForMessageTimeout()

template<typename MessageT >

virtual tl::expected< std::chrono::duration< double >, std::string > moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::getWaitForMessageTimeout ( )

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.

◆ getWaitForPublisherTimeout()

template<typename MessageT >

virtual tl::expected< std::chrono::duration< double >, std::string > moveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::getWaitForPublisherTimeout ( )

inlineprotectedvirtual

Optional user-provided function to set the timeout used when waiting for a publisher to advertise a 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.