behavior_tree::Talker Class Reference

Action node to publish a string message to a ROS 2 topic. More...

#include <talker.hpp>

Inheritance diagram for behavior_tree::Talker:

Collaboration diagram for behavior_tree::Talker:

Public Member Functions
	Talker (const std::string &name, const BT::NodeConfig &config, rclcpp::Node::SharedPtr ros_node)
	Constructor for the Talker node.
BT::NodeStatus	tick () override
	Publishes the message to the topic.

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

Detailed Description

Action node to publish a string message to a ROS 2 topic.

This node reads a string from the input port "message" and publishes it to the topic specified in the input port "topic_name".

Constructor & Destructor Documentation

Talker()

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

Constructor for the Talker 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 publishing.

Member Function Documentation

providedPorts()

BT::PortsList behavior_tree::Talker::providedPorts ( )

static

Defines the input ports for this node.

Returns

A list containing:

• InputPort "message": The string content to publish.
• InputPort "topic_name": The ROS 2 topic to publish to (default: "output").

tick()

BT::NodeStatus behavior_tree::Talker::tick ( )

override

Publishes the message to the topic.

Returns

BT::NodeStatus::SUCCESS if published successfully. BT::NodeStatus::FAILURE if the message port is empty or publisher is invalid.

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

• src/behavior_tree/include/behavior_tree/talker.hpp
• src/behavior_tree/src/bt_nodes/talker.cpp