Fibonacci Action Client implementation using the RosActionNode template. More...

Inheritance diagram for behavior_tree::FibonacciAction:

Collaboration diagram for behavior_tree::FibonacciAction:

Public Member Functions
	FibonacciAction (const std::string &name, const BT::NodeConfig &config, rclcpp::Node::SharedPtr ros_node)
	Constructor.

bool	setGoal (typename Action::Goal &goal) override
	Implementation of setGoal. Gets the "order" from the input port and populates the goal message.

BT::NodeStatus	onResult (const WrappedResult &wr) override
	Implementation of onResult. Checks the result code and sets the output port if successful.

void	onFeedback (const std::shared_ptr< const Feedback > feedback) override
	(Optional) Implementation of onFeedback. Logs the partial sequence length.

Public Member Functions inherited from behavior_tree::RosActionNode< action_tutorials_interfaces::action::Fibonacci >
	RosActionNode (const std::string &name, const BT::NodeConfig &config, rclcpp::Node::SharedPtr ros_node)
	Create action client.

virtual bool	setGoal (typename Action::Goal &goal)=0
	Configures the Goal message.

virtual BT::NodeStatus	onResult (const WrappedResult &wr)=0
	Processes the final result received from the server.

virtual void	onFeedback (const std::shared_ptr< const Feedback > feedback)
	Behavior when recieving feadback.

BT::NodeStatus	onStart () override
	Called when the node is first ticked. Initiates the ROS 2 action.

BT::NodeStatus	onRunning () override
	This method manages the asynchronous state machine:

void	onHalted () override
	Cancels the currently active goal if one exists.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Define ports required by this specific action.

Additional Inherited Members
Public Types inherited from behavior_tree::RosActionNode< action_tutorials_interfaces::action::Fibonacci >
using	Action = action_tutorials_interfaces::action::Fibonacci

using	GoalHandle = rclcpp_action::ClientGoalHandle< Action >

using	ActionClient = rclcpp_action::Client< Action >

using	WrappedResult = typename rclcpp_action::ClientGoalHandle< Action >::WrappedResult

using	Feedback = typename Action::Feedback

Protected Attributes inherited from behavior_tree::RosActionNode< action_tutorials_interfaces::action::Fibonacci >
rclcpp::Node::SharedPtr	ros_node_

ActionClient::SharedPtr	client_

std::string	action_name

std::shared_future< typename GoalHandle::SharedPtr >	future_goal_handle_

std::shared_future< WrappedResult >	future_result_

GoalHandle::SharedPtr	active_goal_handle_

Detailed Description

Fibonacci Action Client implementation using the RosActionNode template.

Constructor & Destructor Documentation

behavior_tree::FibonacciAction::FibonacciAction	(	const std::string &	name,
		const BT::NodeConfig &	config,
		rclcpp::Node::SharedPtr	ros_node
	)

Constructor.

Parameters

name	Node name
config	Node configuration
ros_node	Shared pointer to the ROS 2 node

void behavior_tree::FibonacciAction::onFeedback ( const std::shared_ptr< const Feedback > feedback )

override

(Optional) Implementation of onFeedback. Logs the partial sequence length.

BT::NodeStatus behavior_tree::FibonacciAction::onResult ( const WrappedResult & wr )

override

Implementation of onResult. Checks the result code and sets the output port if successful.

BT::PortsList behavior_tree::FibonacciAction::providedPorts ( )

static

Define ports required by this specific action.

bool behavior_tree::FibonacciAction::setGoal ( typename Action::Goal & goal )

overridevirtual

Implementation of setGoal. Gets the "order" from the input port and populates the goal message.

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