QR Action Client implementation using the CUSTOM RosActionNode template. Target Action: planner_msgs::action::QR. More...

Inheritance diagram for behavior_tree::QrAction:

Collaboration diagram for behavior_tree::QrAction:

Public Member Functions
	QrAction (const std::string &name, const BT::NodeConfig &config, rclcpp::Publisher< std_msgs::msg::String >::SharedPtr logger_pub, rclcpp::Node::SharedPtr ros_node)
	Constructor matching the custom base class signature.

bool	setGoal (typename Action::Goal &goal) override
	Sets the goal.start to true to trigger the server.

BT::NodeStatus	onResult (const WrappedResult &wr) override
	Checks if the action finished successfully.

void	onFeedback (const std::shared_ptr< const Feedback > feedback) override
	Feedback callback (Empty for QR action but required to implement)

Public Member Functions inherited from behavior_tree::RosActionNode< planner_msgs::action::QR >
	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 Input: action_name.

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

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< planner_msgs::action::QR >
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

QR Action Client implementation using the CUSTOM RosActionNode template. Target Action: planner_msgs::action::QR.

Constructor & Destructor Documentation

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

Constructor matching the custom base class signature.

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

override

Feedback callback (Empty for QR action but required to implement)

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

override

Checks if the action finished successfully.

BT::PortsList behavior_tree::QrAction::providedPorts ( )

static

Define ports Input: action_name.

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

overridevirtual

Sets the goal.start to true to trigger the server.

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