moveit_studio::behaviors::PublishVelocityForceCommand Class Reference

Publishes a static transform into the tf2 buffer. More...

#include <publish_velocity_force_command.hpp>

Inheritance diagram for moveit_studio::behaviors::PublishVelocityForceCommand:

Collaboration diagram for moveit_studio::behaviors::PublishVelocityForceCommand:

Public Types
using	VelocityForceCommand = moveit_pro_controllers_msgs::msg::VelocityForceCommand

Public Member Functions
	PublishVelocityForceCommand (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override
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 Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Publishes a static transform into the tf2 buffer.

Data Port Name	Port Type	Object Type
velocity_force_controller_command_topic	input	std::string
velocity_controlled_axes	input	std::vector<int>
force_controlled_axes	input	std::vector<int>
wrench_gain	input	double
twist_stamped	input	geometry_msgs::msg::TwistStamped
wrench_stamped	input	geometry_msgs::msg::WrenchStamped
publish_rate	input	int

Member Typedef Documentation

VelocityForceCommand

using moveit_studio::behaviors::PublishVelocityForceCommand::VelocityForceCommand = moveit_pro_controllers_msgs::msg::VelocityForceCommand

Constructor & Destructor Documentation

PublishVelocityForceCommand()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::PublishVelocityForceCommand::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_studio::behaviors::PublishVelocityForceCommand::onRunning ( )

override

onStart()

BT::NodeStatus moveit_studio::behaviors::PublishVelocityForceCommand::onStart ( )

override

providedPorts()

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

static

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

• publish_velocity_force_command.hpp
• publish_velocity_force_command.cpp