behavior_tree::WrenchAction Class Reference

Behavior Tree node for the Wrench Action. More...

#include <wrench_action.hpp>

Inheritance diagram for behavior_tree::WrenchAction:

Collaboration diagram for behavior_tree::WrenchAction:

Public Types
using	Goal = wrench_action_sample_msgs::action::Wrench::Goal
Public Types inherited from behavior_tree::RosActionNode< wrench_action_sample_msgs::action::Wrench >
using	Action = wrench_action_sample_msgs::action::Wrench
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
	WrenchAction (const std::string &name, const BT::NodeConfig &config, rclcpp::Node::SharedPtr ros_node)
	Constructor for the WrenchAction node.
bool	setGoal (Goal &goal) override
	Configures the Goal message before sending it to the server.
BT::NodeStatus	onResult (const WrappedResult &wr) override
	callback executed when the action result is received.
Public Member Functions inherited from behavior_tree::RosActionNode< wrench_action_sample_msgs::action::Wrench >
	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 ()
	Defines the input and output ports for this node.

Additional Inherited Members
Protected Attributes inherited from behavior_tree::RosActionNode< wrench_action_sample_msgs::action::Wrench >
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

Behavior Tree node for the Wrench Action.

Send the WrenchStamped Topic for the specified period. If the action completes successfully, it returns SUCCESS.

Member Typedef Documentation

Goal

using behavior_tree::WrenchAction::Goal = wrench_action_sample_msgs::action::Wrench::Goal

Constructor & Destructor Documentation

WrenchAction()

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

Constructor for the WrenchAction node.

Parameters

name	The name of the node in the behavior tree.
config	The node configuration.
ros_node	Shared pointer to the ROS 2 node used for communication.

Member Function Documentation

onResult()

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

override

callback executed when the action result is received.

Parameters

wr	The wrapped result containing the status code and the result data.

Returns

BT::NodeStatus::SUCCESS if the action succeeded, BT::NodeStatus::FAILURE otherwise.

providedPorts()

BT::PortsList behavior_tree::WrenchAction::providedPorts ( )

static

Defines the input and output ports for this node.

Returns

A list containing:

• InputPort "action_name": Name of the action server.
• InputPort "duration_sec": Duration to apply the wrench (in seconds).
• OutputPort "total_updates": The total number of updates received from the server.

setGoal()

bool behavior_tree::WrenchAction::setGoal ( Goal &  goal )

override

Configures the Goal message before sending it to the server.

Parameters

goal	The goal object to be populated.

Returns

true if the goal was set successfully, false if the input port is missing.

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

• src/behavior_tree/include/behavior_tree/sample/wrench_action.hpp
• src/behavior_tree/src/bt_nodes/sample/wrench_action.cpp