Action node to update the robot's operation mode based on Joystick input. More...

Inheritance diagram for behavior_tree::UpdateMode:

Collaboration diagram for behavior_tree::UpdateMode:

Public Member Functions
	UpdateMode (const std::string &name, const BT::NodeConfig &config, rclcpp::Publisher< std_msgs::msg::String >::SharedPtr logger_pub, rclcpp::Node::SharedPtr ros_node, uint64_t timeout_ms)
	Constructor for the UpdateMode node.

BT::NodeStatus	tick () override
	Checks joystick state and updates the mode.

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

Detailed Description

Action node to update the robot's operation mode based on Joystick input.

This node subscribes to a joystick topic and checks specific buttons defined in the input ports. It switches the mode between "manual" and "auto".

Constructor & Destructor Documentation

behavior_tree::UpdateMode::UpdateMode	(	const std::string &	name,
		const BT::NodeConfig &	config,
		rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	logger_pub,
		rclcpp::Node::SharedPtr	ros_node,
		uint64_t	timeout_ms
	)

Constructor for the UpdateMode 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 subscription.
timeout_ms	joy topic timeout [ms]

BT::PortsList behavior_tree::UpdateMode::providedPorts ( )

static

Defines the input and output ports for this node.

Returns

A list containing:

InputPort "joy_topic": Topic name for the joystick. default is "/joy_common/joy_common".
InputPort "manual_button": Name of the button to switch to manual mode.
InputPort "auto_button": Name of the button to switch to auto mode.
OutputPort "mode": The current mode ("manual" or "auto").

BT::NodeStatus behavior_tree::UpdateMode::tick ( )

override

Checks joystick state and updates the mode.

Returns: BT::NodeStatus::SUCCESS if executed correctly. BT::NodeStatus::FAILURE if Joy message is missing, ports are invalid, or buttons map is invalid.

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