moveit_studio::behaviors::BehaviorContext Struct Reference

The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode. More...

#include <behavior_context.hpp>

Public Member Functions
	BehaviorContext (const std::shared_ptr< rclcpp::Node > &node_in, bool tf2_spin_thread=true, bool load_robot_model=false)
	BehaviorContext (const std::shared_ptr< rclcpp::Node > &node_in, std::unique_ptr< moveit_studio::behavior::LoggerBase > logger, bool tf2_spin_thread=true, bool load_robot_model=false)
	BehaviorContext (const BehaviorContext &)=delete
	BehaviorContext (BehaviorContext &&)=delete
BehaviorContext &	operator= (const BehaviorContext &)=delete
BehaviorContext &	operator= (BehaviorContext &&)=delete

Public Attributes
const std::shared_ptr< rclcpp::Node >	node
	A const shared pointer to a RCLCPP Node. This points to an instance of a Node provided when constructing the BehaviorContext.
const std::shared_ptr< rclcpp::CallbackGroup >	callback_group_mutually_exclusive
	A const shared pointer mutually-exclusive callback group.
const std::shared_ptr< rclcpp::CallbackGroup >	reentrant_callback_group
	A const shared pointer reentrant callback group.
const std::unique_ptr< moveit_studio::behavior::LoggerBase >	logger
	A const unique pointer to a logger for reporting messages to the UI.
tf2_ros::Buffer *const	transform_buffer_ptr = nullptr
tf2_ros::TransformListener *const	transform_listener_ptr = nullptr
tf2_ros::TransformBroadcaster *const	transform_broadcaster_ptr = nullptr
tf2_ros::Buffer	transform_buffer
	Transform buffer, listener, and broadcaster to interface with TF.
tf2_ros::TransformListener	transform_listener
tf2_ros::TransformBroadcaster	transform_broadcaster
std::shared_ptr< moveit::core::RobotModel >	robot_model
	The robot model, may be nullptr if the BehaviorContext was created with load_robot_model=false.

Detailed Description

The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

The BehaviorContext struct won't load a robot model by default. This is to avoid the cost of loading the robot model when it's not actually needed (e.g. tests), or needing to consume a timeout waiting for the model to be available. If a robot model is needed (e.g. when running on an actual robot), set load_robot_model=true when constructing the BehaviorContext. If load_robot_model=true and the robot model fails to load, the BehaviorContext will throw an exception and the program will terminate.

Constructor & Destructor Documentation

BehaviorContext() [1/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext	(	const std::shared_ptr< rclcpp::Node > &	node_in,
		bool	tf2_spin_thread = true,
		bool	load_robot_model = false
	)

BehaviorContext() [2/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext	(	const std::shared_ptr< rclcpp::Node > &	node_in,
		std::unique_ptr< moveit_studio::behavior::LoggerBase >	logger,
		bool	tf2_spin_thread = true,
		bool	load_robot_model = false
	)

BehaviorContext() [3/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( const BehaviorContext &  )

delete

BehaviorContext() [4/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( BehaviorContext &&  )

delete

Member Function Documentation

operator=() [1/2]

BehaviorContext & moveit_studio::behaviors::BehaviorContext::operator= ( BehaviorContext &&  )

delete

operator=() [2/2]

BehaviorContext & moveit_studio::behaviors::BehaviorContext::operator= ( const BehaviorContext &  )

delete

Member Data Documentation

callback_group_mutually_exclusive

const std::shared_ptr<rclcpp::CallbackGroup> moveit_studio::behaviors::BehaviorContext::callback_group_mutually_exclusive

A const shared pointer mutually-exclusive callback group.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

logger

const std::unique_ptr<moveit_studio::behavior::LoggerBase> moveit_studio::behaviors::BehaviorContext::logger

A const unique pointer to a logger for reporting messages to the UI.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

node

const std::shared_ptr<rclcpp::Node> moveit_studio::behaviors::BehaviorContext::node

A const shared pointer to a RCLCPP Node. This points to an instance of a Node provided when constructing the BehaviorContext.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

reentrant_callback_group

const std::shared_ptr<rclcpp::CallbackGroup> moveit_studio::behaviors::BehaviorContext::reentrant_callback_group

A const shared pointer reentrant callback group.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

robot_model

std::shared_ptr<moveit::core::RobotModel> moveit_studio::behaviors::BehaviorContext::robot_model

The robot model, may be nullptr if the BehaviorContext was created with load_robot_model=false.

if load_robot_model=true, this is guaranteed to be a valid pointer.

transform_broadcaster

tf2_ros::TransformBroadcaster moveit_studio::behaviors::BehaviorContext::transform_broadcaster

transform_broadcaster_ptr

tf2_ros::TransformBroadcaster* const moveit_studio::behaviors::BehaviorContext::transform_broadcaster_ptr = nullptr

transform_buffer

tf2_ros::Buffer moveit_studio::behaviors::BehaviorContext::transform_buffer

Transform buffer, listener, and broadcaster to interface with TF.

transform_buffer_ptr

tf2_ros::Buffer* const moveit_studio::behaviors::BehaviorContext::transform_buffer_ptr = nullptr

transform_listener

tf2_ros::TransformListener moveit_studio::behaviors::BehaviorContext::transform_listener

transform_listener_ptr

tf2_ros::TransformListener* const moveit_studio::behaviors::BehaviorContext::transform_listener_ptr = nullptr

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

• behavior_context.hpp
• behavior_context.cpp