moveit_pro::behavior Namespace Reference

Classes
class	LoggerBase
	Base class to allow Behaviors to report messages with detailed explanations to MoveIt Studio UI. More...
class	LoggerROS
	A ROS-specialized implementation of LoggerBase that publishes the error message on a topic and logs it through an rclcpp Logger. More...
class	ParameterOverrideRegistry
	Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry. More...

Functions
template<typename T >
void	registerParameterParser ()
	Register a YAML parser for type T without touching the blackboard-viewer JSON exporter.
template<typename T >
void	registerParameterType ()
	Register a parser for ROS message type T AND register the JSON converter so the override value displays as structured JSON in the blackboard viewer.
void	seedBuiltinParameterOverrideParsers ()
	Seed the registry with parsers for primitives (string, double, int, bool, YAML::Node) and every ROS message type covered by ROS_MESSAGE_YAML_PARSER in moveit_pro_common/utils/yaml_parsing_tools.hpp.

Function Documentation

registerParameterParser()

template<typename T >

void moveit_pro::behavior::registerParameterParser

(

)

Register a YAML parser for type T without touching the blackboard-viewer JSON exporter.

Use this for non-ROS-message types like primitives, YAML::Node, or std::vector<RosMsg>. Requires that YAML::convert<T> is specialized for T.

registerParameterType()

template<typename T >

void moveit_pro::behavior::registerParameterType

(

)

Register a parser for ROS message type T AND register the JSON converter so the override value displays as structured JSON in the blackboard viewer.

Equivalent to registerParameterParser<T>() plus register_ros_msg<T>(). Use this for ROS message types (custom or built-in). Requires ROS_MESSAGE_YAML_PARSER(pkg, Msg) to have been invoked for T to specialize YAML::convert<T>.

seedBuiltinParameterOverrideParsers()

void moveit_pro::behavior::seedBuiltinParameterOverrideParsers

(

)

Seed the registry with parsers for primitives (string, double, int, bool, YAML::Node) and every ROS message type covered by ROS_MESSAGE_YAML_PARSER in moveit_pro_common/utils/yaml_parsing_tools.hpp.

Idempotent — safe to call multiple times across multiple ObjectiveServer instances. Guarded by std::call_once.