behavior_tree::RosActionNode< ActionT > Class Template Reference

Template for ROS2 Action with Behavior Tree. More...

#include <ros_action_node.hpp>

Inheritance diagram for behavior_tree::RosActionNode< ActionT >:

Collaboration diagram for behavior_tree::RosActionNode< ActionT >:

Public Types
using	Action = ActionT
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

Public Member Functions
	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.

Protected Attributes
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

template<class ActionT>
class behavior_tree::RosActionNode< ActionT >

Template for ROS2 Action with Behavior Tree.

Template Parameters

ActionT

Action Type

behaviortree_ros2パッケージが動かなかったので，自作

Member Typedef Documentation

Action

template<class ActionT >

using behavior_tree::RosActionNode< ActionT >::Action = ActionT

ActionClient

template<class ActionT >

using behavior_tree::RosActionNode< ActionT >::ActionClient = rclcpp_action::Client<Action>

Feedback

template<class ActionT >

using behavior_tree::RosActionNode< ActionT >::Feedback = typename Action::Feedback

GoalHandle

template<class ActionT >

using behavior_tree::RosActionNode< ActionT >::GoalHandle = rclcpp_action::ClientGoalHandle<Action>

WrappedResult

template<class ActionT >

using behavior_tree::RosActionNode< ActionT >::WrappedResult = typename rclcpp_action::ClientGoalHandle<Action>::WrappedResult

Constructor & Destructor Documentation

RosActionNode()

template<class ActionT >

behavior_tree::RosActionNode< ActionT >::RosActionNode	(	const std::string &	name,
		const BT::NodeConfig &	config,
		rclcpp::Node::SharedPtr	ros_node
	)

Create action client.

Parameters

name	Node name
config	Node config
ros_node	pointer of ros node

Get action_name from xml, and then create action client

Member Function Documentation

onFeedback()

template<class ActionT >

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

virtual

Behavior when recieving feadback.

onHalted()

template<class ActionT >

void behavior_tree::RosActionNode< ActionT >::onHalted

override

Cancels the currently active goal if one exists.

onResult()

template<class ActionT >

virtual BT::NodeStatus behavior_tree::RosActionNode< ActionT >::onResult ( const WrappedResult &  wr )

pure virtual

Processes the final result received from the server.

Parameters

wr	The wrapped result containing the result code and data

Returns

BT::NodeStatus (typically SUCCESS or FAILURE)

onRunning()

template<class ActionT >

BT::NodeStatus behavior_tree::RosActionNode< ActionT >::onRunning

override

This method manages the asynchronous state machine:

Returns

BT::NodeStatus::RUNNING while waiting for the server. Returns the result of onResult() once the action completes.

1. Checks if the goal was accepted by the server.

Checks if the result has been received.

onStart()

template<class ActionT >

BT::NodeStatus behavior_tree::RosActionNode< ActionT >::onStart

override

Called when the node is first ticked. Initiates the ROS 2 action.

Returns

BT::NodeStatus::RUNNING if the goal is sent successfully, BT::NodeStatus::FAILURE if the server is missing or goal setting fails.

Checks server availability, configures the goal using the derived class's setGoal, and sends the goal asynchronously.

setGoal()

template<class ActionT >

virtual bool behavior_tree::RosActionNode< ActionT >::setGoal ( typename Action::Goal &  goal )

pure virtual

Configures the Goal message.

Parameters

goal	The Goal object to be sent to the server

Returns

true if the goal was set successfully, false otherwise (triggers FAILURE)

Implemented in behavior_tree::FindPingerAction, behavior_tree::QrAction, behavior_tree::FibonacciAction, and behavior_tree::WaypointAction.

Member Data Documentation

action_name

template<class ActionT >

std::string behavior_tree::RosActionNode< ActionT >::action_name

protected

active_goal_handle_

template<class ActionT >

GoalHandle::SharedPtr behavior_tree::RosActionNode< ActionT >::active_goal_handle_

protected

client_

template<class ActionT >

ActionClient::SharedPtr behavior_tree::RosActionNode< ActionT >::client_

protected

future_goal_handle_

template<class ActionT >

std::shared_future<typename GoalHandle::SharedPtr> behavior_tree::RosActionNode< ActionT >::future_goal_handle_

protected

future_result_

template<class ActionT >

std::shared_future<WrappedResult> behavior_tree::RosActionNode< ActionT >::future_result_

protected

ros_node_

template<class ActionT >

rclcpp::Node::SharedPtr behavior_tree::RosActionNode< ActionT >::ros_node_

protected

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

• src/behavior_tree/include/behavior_tree/common/ros_action_node.hpp