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MoveIt Pro API
Core Behaviors for MoveIt Pro
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Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message. More...
#include <record_joint_trajectory.hpp>
Public Member Functions | |
RecordJointTrajectory (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
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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. | |
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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 | |
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virtual tl::expected< void, std::string > | doHalt () |
Optionally implement additional work needed to cleanly interrupt the async process. | |
void | notifyCanHalt () |
Called when runAsync() finishes to notify onHalted() that the async process has finished. | |
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std::shared_ptr< BehaviorContext > | shared_resources_ |
Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message.
This Behavior doesn't start recording until the start recording service is called. To stop recording, the stop recording service must be called. There is an optional omit_joints port, which can be used to omit joints from being recorded
Data Port Name | Port Type | Object Type |
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start_recording_service | Input | std::string |
stop_recording_service | Input | std::string |
joint_state_topic | Input | std::string |
timeout_sec | Input | double |
planning_group_name | Input | std::string |
joint_space_step | Input | double |
joint_trajectory_message | Output | trajectory_msgs::msg::JointTrajectory |
moveit_studio::behaviors::RecordJointTrajectory::RecordJointTrajectory | ( | const std::string & | name, |
const BT::NodeConfiguration & | config, | ||
const std::shared_ptr< BehaviorContext > & | shared_resources | ||
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