moveit_studio::behaviors::VisualizePose Class Reference

Publishes a visualization marker that contains three lines composing a coordinate frame. More...

#include <visualize_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::VisualizePose:

Collaboration diagram for moveit_studio::behaviors::VisualizePose:

Public Member Functions
	VisualizePose (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	kPortIDPose = "pose"
static constexpr auto	kPortIDMarkerSize = "marker_size"
static constexpr auto	kPortIDMarkerLifetime = "marker_lifetime"
static constexpr auto	kPortIDMarkerName = "marker_name"

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

Detailed Description

Publishes a visualization marker that contains three lines composing a coordinate frame.

This Behavior composes a visualization_msgs::msg::MarkerArray message which contains the frame 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
pose	input	geometry_msgs::msg::PoseStamped
marker_size	input	double
marker_lifetime	input	double

Constructor & Destructor Documentation

VisualizePose()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDMarkerLifetime

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

staticconstexpr

kPortIDMarkerName

constexpr auto moveit_studio::behaviors::VisualizePose::kPortIDMarkerName = "marker_name"

staticconstexpr

kPortIDMarkerSize

constexpr auto moveit_studio::behaviors::VisualizePose::kPortIDMarkerSize = "marker_size"

staticconstexpr

kPortIDPose

constexpr auto moveit_studio::behaviors::VisualizePose::kPortIDPose = "pose"

staticconstexpr

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

• visualize_pose.hpp
• visualize_pose.cpp