moveit_studio::behaviors::SwitchController Class Reference

A Behavior to call the ros2_control switch_controllers service. More...

#include <switch_controller.hpp>

Inheritance diagram for moveit_studio::behaviors::SwitchController:

Collaboration diagram for moveit_studio::behaviors::SwitchController:

Public Member Functions
	SwitchController (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	SwitchController (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SwitchControllerSrv > > client_interface)
Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SwitchControllerSrv >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SwitchControllerSrv > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.
virtual	~ServiceClientBehaviorBase ()=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 Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortActivateControllers = "activate_controllers"
static constexpr auto	kPortDeactivateControllers = "deactivate_controllers"
static constexpr auto	kPortStrictness = "strictness"
static constexpr auto	kPortActivateAsap = "activate_asap"
static constexpr auto	kPortTimeout = "timeout"
static constexpr auto	kPortServiceName = "controller_switch_action_name"
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SwitchControllerSrv >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SwitchControllerSrv >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response.
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

A Behavior to call the ros2_control switch_controllers service.

This behavior switches controllers in a ros2_control controller manager. Given a list of controllers to activate/deactivate, a service request is dispatched to switch the active ros2_control controllers accordingly. The behavior will wait for the service response and return success or failure based on the response.

Data Port Name	Port Type	Object Type
activate_controllers	input	std::vector<std::string>
deactivate_controllers	input	std::vector<std::string>
strictness	input	int
activate_asap	input	bool
timeout	input	std::chrono::duration<double>
controller_switch_action_name	input	std::string

Constructor & Destructor Documentation

SwitchController() [1/2]

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

explicit

SwitchController() [2/2]

moveit_studio::behaviors::SwitchController::SwitchController ( const std::string &  name, const BT::NodeConfiguration &  config, const std::shared_ptr< BehaviorContext > &  shared_resources, std::unique_ptr< ClientInterfaceBase< SwitchControllerSrv > >  client_interface  )

explicit

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

Member Data Documentation

kPortActivateAsap

constexpr auto moveit_studio::behaviors::SwitchController::kPortActivateAsap = "activate_asap"

staticconstexpr

kPortActivateControllers

constexpr auto moveit_studio::behaviors::SwitchController::kPortActivateControllers = "activate_controllers"

staticconstexpr

kPortDeactivateControllers

constexpr auto moveit_studio::behaviors::SwitchController::kPortDeactivateControllers = "deactivate_controllers"

staticconstexpr

kPortServiceName

constexpr auto moveit_studio::behaviors::SwitchController::kPortServiceName = "controller_switch_action_name"

staticconstexpr

kPortStrictness

constexpr auto moveit_studio::behaviors::SwitchController::kPortStrictness = "strictness"

staticconstexpr

kPortTimeout

constexpr auto moveit_studio::behaviors::SwitchController::kPortTimeout = "timeout"

staticconstexpr

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

• switch_controller.hpp
• switch_controller.cpp