ROS 2 Lifecycle Node Management Action for BehaviorTree.CPP. More...

Inheritance diagram for behavior_tree::LifecycleManager:

Collaboration diagram for behavior_tree::LifecycleManager:

Public Member Functions
	LifecycleManager (const std::string &name, const BT::NodeConfig &config, rclcpp::Publisher< std_msgs::msg::String >::SharedPtr logger_pub, rclcpp::Node::SharedPtr ros_node)
	Constructor.

BT::NodeStatus	onStart () override
	Called first when the node is ticked (starts async operation)

BT::NodeStatus	onRunning () override
	Called continuously after onStart() until async operation completes.

void	onHalted () override
	Called when the node is halted.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Defines the ports used by this node.

Detailed Description

ROS 2 Lifecycle Node Management Action for BehaviorTree.CPP.

Requests a state transition specified by the "transition" port for the lifecycle node specified by the "node_name" port.

Constructor & Destructor Documentation

behavior_tree::LifecycleManager::LifecycleManager	(	const std::string &	name,
		const BT::NodeConfig &	config,
		rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	logger_pub,
		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::LifecycleManager::onHalted ( )

override

Called when the node is halted.

BT::NodeStatus behavior_tree::LifecycleManager::onRunning ( )

override

Called continuously after onStart() until async operation completes.

BT::NodeStatus behavior_tree::LifecycleManager::onStart ( )

override

Called first when the node is ticked (starts async operation)

BT::PortsList behavior_tree::LifecycleManager::providedPorts ( )

static

Defines the ports used by this node.

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