CheckSensorsStatus Class Reference

Condition node to check the health status of robot sensors. More...

#include <check_sensors_status.hpp>

Inheritance diagram for CheckSensorsStatus:

Collaboration diagram for CheckSensorsStatus:

Public Member Functions
	CheckSensorsStatus (const std::string &name, const BT::NodeConfig &config, rclcpp::Publisher< std_msgs::msg::String >::SharedPtr logger_pub, rclcpp::Node::SharedPtr ros_node)
	Constructor for the CheckSensorsStatus node.
BT::NodeStatus	tick () override
	Checks the current status of the sensors.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Defines the input and output ports for this node.

Detailed Description

Condition node to check the health status of robot sensors.

Constructor & Destructor Documentation

CheckSensorsStatus()

CheckSensorsStatus::CheckSensorsStatus	(	const std::string &	name,
		const BT::NodeConfig &	config,
		rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	logger_pub,
		rclcpp::Node::SharedPtr	ros_node
	)

Constructor for the CheckSensorsStatus node.

Parameters

name	The name of the node in the behavior tree.
config	The configuration of the node.
ros_node	Shared pointer to the ROS 2 node used for subscriptions.

Member Function Documentation

providedPorts()

BT::PortsList CheckSensorsStatus::providedPorts ( )

static

Defines the input and output ports for this node.

Returns

A list of ports.

tick()

BT::NodeStatus CheckSensorsStatus::tick ( )

override

Checks the current status of the sensors.

Returns

BT::NodeStatus::SUCCESS if sensors are healthy. BT::NodeStatus::FAILURE if any sensor reports an error (status == 2).

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

• src/behavior_tree/include/behavior_tree/check/check_sensors_status.hpp
• src/behavior_tree/src/bt_nodes/check/check_sensors_status.cpp