Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports. More...

#include <send_message_to_topic.hpp>

Inheritance diagram for moveit_studio::behaviors::SendMessageToTopicBehaviorBase< MessageT >:

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

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

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

virtual	~SendMessageToTopicBehaviorBase ()=default

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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	kPortIDMessage = "message"
	Port names.

static constexpr auto	kPortIDTopicName = "topic"

static constexpr auto	kPortIDQueueSize = "queue_size"

static constexpr auto	kPortIDUseBestEffort = "use_best_effort"

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

template<typename MessageT>
class moveit_studio::behaviors::SendMessageToTopicBehaviorBase< MessageT >

Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports.

Template Parameters

MessageT ROS message type used to specialize this class.

Note: The default message input data port type is MessageT. This means you might need to create a separate Behavior that generates an MessageT instance. If you do not want to create a separate Behavior to generate an instance of MessageT, consider creating a template specialization of BT::convertFromString which converts a string to a MessageT instance. This allows for the message input data port to take a std::string as its input. For an example of how this is done, look at the PublishString Behavior. If the "message" input port is not set, then the Behavior will publish a default instance of the specified message type.

The "queue_size" (for the underlying publisher's quality of service) input port value must be > 0.

If The "use_best_effort" (for the underlying publisher's quality of service) is set to true, "best effort" reliability is used. If false, "reliable" reliability is used.

Data Port Name	Port Type	Object Type
message	Input	MessageT
topic	Input	std::string
queue_size	Input	size_t
use_best_effort	Input	bool

Constructor & Destructor Documentation

◆ SendMessageToTopicBehaviorBase() [1/2]

template<typename MessageT >

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

Constructs SendMessageToTopicBehaviorBase using the RclcppPublisherInterface.

◆ SendMessageToTopicBehaviorBase() [2/2]

template<typename MessageT >

moveit_studio::behaviors::SendMessageToTopicBehaviorBase< MessageT >::SendMessageToTopicBehaviorBase	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< PublisherInterfaceBase< MessageT > >	publisher_interface
	)