This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server. More...
#include <teleoperate_base.hpp>
Public Member Functions | |
| TeleoperateBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| Constructor for the TeleoperateBase Behavior. More... | |
 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(). More... | |
| BT::NodeStatus | onRunning () override |
| Required implementation of BT::StatefulActionNode::onRunning(). More... | |
| void | onHalted () override |
| Required implementation of BT::StatefulActionNode::onHalted(). More... | |
| void | resetStatus () |
| Resets the internal status of this node. More... | |
| 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. More... | |
Protected Member Functions | |
| tl::expected< bool, std::string > | doWork () override |
| Validate service clients, start the MoveIt Servo server, and create subscribers for Servo commands. More... | |
| tl::expected< void, std::string > | doHalt () override |
| Stops teleoperation by halting publishing servo commands and pausing the MoveIt Servo server. More... | |
| Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase | |
| void | notifyCanHalt () |
| Called when runAsync() finishes to notify onHalted() that the async process has finished. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode > | |
| std::shared_ptr< BehaviorContext > | shared_resources_ |
Detailed Description
template<typename CommandT>
class moveit_studio::behaviors::TeleoperateBase< CommandT >
This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server.
When started, this Behavior will run INDEFINITELY until it is halted. This will happen either when the root node of the behavior tree is halted as the Objective is canceled, or when this Behavior's parent control node halts it. When this Behavior first transitions from IDLE to RUNNING, it starts Servo control using the services advertised by the Servo server node. While this Behavior is RUNNING, it subscribes to command messages that originate in the user interface, and republishes these messages to the command topics advertised by the Servo server node. When this Behavior is halted, it pauses Servo control using the server's services.
The template parameter CommandT is the ROS message type used to specialize this class. This can be one of the valid MoveIt Servo command types, including: control_msgs::msg::JointJog - For joint jogging geometry_msgs::msg::TwistStamped - For Cartesian jogging geometry_msgs::msg::PoseStamped - For pose tracking
| Data Port Name | Port Type | Object Type |
|---|---|---|
| controller_name | Input | std::string |
Constructor & Destructor Documentation
◆ TeleoperateBase()
| moveit_studio::behaviors::TeleoperateBase< CommandT >::TeleoperateBase | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config, | ||
| const std::shared_ptr< BehaviorContext > & | shared_resources | ||
| ) |
Constructor for the TeleoperateBase Behavior.
- Parameters
-
name Name of the Behavior. Used internally by BehaviorTree.CPP. config BehaviorTree.CPP NodeConfiguration. Used internally by BehaviorTree.CPP. shared_resources Shared pointer to the ObjectiveServerNode's BehaviorContext. Passed to the constructor of SharedResourcesNode, where it is used as a member variable.
Member Function Documentation
◆ doHalt()
|
overrideprotectedvirtual |
Stops teleoperation by halting publishing servo commands and pausing the MoveIt Servo server.
Reimplemented from moveit_studio::behaviors::AsyncBehaviorBase.
◆ doWork()
|
overrideprotectedvirtual |
Validate service clients, start the MoveIt Servo server, and create subscribers for Servo commands.
This will run until the behavior is halted, and will not terminate on its own.
Implements moveit_studio::behaviors::AsyncBehaviorBase.
The documentation for this class was generated from the following files:
