Publishes a marker array that contains a polyline representing a path. More...

#include <visualize_path.hpp>

Inheritance diagram for moveit_studio::behaviors::VisualizePath:

Collaboration diagram for moveit_studio::behaviors::VisualizePath:

Public Member Functions
	VisualizePath (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

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. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDPath = "path"

static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"

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

Detailed Description

Publishes a marker array that contains a polyline representing a path.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains the path to visualize. It publishes the message to a ROS topic named /visual_markers, which is then visualized in the UI.

Input poses can be given in any known frame. The Behavior will transform them to the world frame before visualization. If the transform cannot be found, the Behavior will return a FAILURE status. 'marker_lifetime' is the time in seconds that the path will be visualized. A value of 0 will visualize the path indefinitely.

Data Port Name	Port Type	Object Type
path	input	std::vector<geometry_msgs::msg::PoseStamped>
marker_lifetime	input	double

Constructor & Destructor Documentation

◆ VisualizePath()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

BT::NodeStatus moveit_studio::behaviors::VisualizePath::tick ( )

override

Member Data Documentation

◆ kPortIDMarkerLifetime

constexpr auto moveit_studio::behaviors::VisualizePath::kPortIDMarkerLifetime = "marker_lifetime"

staticconstexpr

◆ kPortIDPath

constexpr auto moveit_studio::behaviors::VisualizePath::kPortIDPath = "path"

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members