moveit_studio::behaviors::SetAdmittanceParameters Class Reference

Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior. More...

#include <set_admittance_parameters.hpp>

Inheritance diagram for moveit_studio::behaviors::SetAdmittanceParameters:

Collaboration diagram for moveit_studio::behaviors::SetAdmittanceParameters:

Public Member Functions
	SetAdmittanceParameters (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
tl::expected< void, std::string >	validateControllerType (const std::string &controller_name, const std::vector< std::string > &valid_controller_types)
	Validates the type of the controller as either an admittance controller or test controller.
tl::expected< void, std::string >	updateOrCreateAdmittanceParameters (const AdmittanceControllerParams &params)
	Updates parameters for an existing ros2_control admittance controller, or creates an AdmittanceParameters message for a JTAC controller.
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

Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior.

This behavior can be used to set admittance parameters for a JTAC controller. A set of parameters will be loaded from a YAML file and displayed in the UI for the user to modify. Any modifications will be stored back to the YAML file. If the given YAML file doesn't exist, a default set of parameters will be created. The parameters will also be returned in an output port as an 'AdmittanceParameters' message, which can be used as input to the 'ExecuteTrajectoryWithAdmittance' Behavior (JTAC controller).

Alternatively, this behavior can also be used to set admittance parameters for a ros2_control admittance controller. In this case, the parameters will be set via the parameter server and no output message will be created. This mode of operation is deprecated and only kept for compatibility with older setups that use the ros2_control admittance controller.

Data Port Name	Port Type	Object Type
config_file_name	input	std::string
admittance_parameters_msg	output	moveit_pro_controllers_msgs::msg::AdmittanceParameters

Constructor & Destructor Documentation

SetAdmittanceParameters()

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

explicit

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::SetAdmittanceParameters::onHalted ( )

override

onRunning()

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

override

onStart()

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

override

providedPorts()

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

static

updateOrCreateAdmittanceParameters()

tl::expected< void, std::string > moveit_studio::behaviors::SetAdmittanceParameters::updateOrCreateAdmittanceParameters

(

const AdmittanceControllerParams &

params

)

Updates parameters for an existing ros2_control admittance controller, or creates an AdmittanceParameters message for a JTAC controller.

Parameters

params

Struct containing admittance parameters to set.

Returns

Nothing if successful, else an error.

validateControllerType()

tl::expected< void, std::string > moveit_studio::behaviors::SetAdmittanceParameters::validateControllerType	(	const std::string &	controller_name,
		const std::vector< std::string > &	valid_controller_types
	)

Validates the type of the controller as either an admittance controller or test controller.

Parameters

controller_name	Name of the controller to validate.
valid_controller_types	Vector containing the valid controller types.

Returns

Nothing if successful, else an error.

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

• set_admittance_parameters.hpp
• set_admittance_parameters.cpp