nav2_behavior_tree::BtActionServer< ActionT > Class Template Reference

An action server that uses behavior tree to execute an action. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp>

Collaboration diagram for nav2_behavior_tree::BtActionServer< ActionT >:

Public Types
using	ActionServer = nav2_util::SimpleActionServer< ActionT >
typedef std::function< bool(typename ActionT::Goal::ConstSharedPtr)>	OnGoalReceivedCallback
typedef std::function< void()>	OnLoopCallback
typedef std::function< void(typename ActionT::Goal::ConstSharedPtr)>	OnPreemptCallback
typedef std::function< void(typename ActionT::Result::SharedPtr, nav2_behavior_tree::BtStatus)>	OnCompletionCallback

Public Member Functions
	BtActionServer (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &action_name, const std::vector< std::string > &plugin_lib_names, const std::string &default_bt_xml_filename, OnGoalReceivedCallback on_goal_received_callback, OnLoopCallback on_loop_callback, OnPreemptCallback on_preempt_callback, OnCompletionCallback on_completion_callback)
	A constructor for nav2_behavior_tree::BtActionServer class.
	~BtActionServer ()
	A destructor for nav2_behavior_tree::BtActionServer class.
bool	on_configure ()
	Configures member variables Initializes action server for, builds behavior tree from xml file, and calls user-defined onConfigure. More...
bool	on_activate ()
	Activates action server. More...
bool	on_deactivate ()
	Deactivates action server. More...
bool	on_cleanup ()
	Resets member variables. More...
bool	loadBehaviorTree (const std::string &bt_xml_filename="")
	Replace current BT with another one. More...
BT::Blackboard::Ptr	getBlackboard () const
	Getter function for BT Blackboard. More...
std::string	getCurrentBTFilename () const
	Getter function for current BT XML filename. More...
std::string	getDefaultBTFilename () const
	Getter function for default BT XML filename. More...
const std::shared_ptr< const typename ActionT::Goal >	acceptPendingGoal ()
	Wrapper function to accept pending goal if a preempt has been requested. More...
void	terminatePendingGoal ()
	Wrapper function to terminate pending goal if a preempt has been requested.
const std::shared_ptr< const typename ActionT::Goal >	getCurrentGoal () const
	Wrapper function to get current goal. More...
const std::shared_ptr< const typename ActionT::Goal >	getPendingGoal () const
	Wrapper function to get pending goal. More...
void	publishFeedback (typename std::shared_ptr< typename ActionT::Feedback > feedback)
	Wrapper function to publish action feedback.
const BT::Tree &	getTree () const
	Getter function for the current BT tree. More...
void	haltTree ()
	Function to halt the current tree. It will interrupt the execution of RUNNING nodes by calling their halt() implementation (only for Async nodes that may return RUNNING)

Protected Member Functions
void	executeCallback ()
	Action server callback.

Protected Attributes
std::string	action_name_
std::shared_ptr< ActionServer >	action_server_
BT::Tree	tree_
BT::Blackboard::Ptr	blackboard_
std::string	current_bt_xml_filename_
std::string	default_bt_xml_filename_
std::unique_ptr< nav2_behavior_tree::BehaviorTreeEngine >	bt_
std::vector< std::string >	plugin_lib_names_
rclcpp::Node::SharedPtr	client_node_
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("BtActionServer")}
std::unique_ptr< RosTopicLogger >	topic_logger_
std::chrono::milliseconds	bt_loop_duration_
std::chrono::milliseconds	default_server_timeout_
std::chrono::milliseconds	wait_for_service_timeout_
bool	always_reload_bt_xml_ = false
OnGoalReceivedCallback	on_goal_received_callback_
OnLoopCallback	on_loop_callback_
OnPreemptCallback	on_preempt_callback_
OnCompletionCallback	on_completion_callback_

Detailed Description

template<class ActionT>
class nav2_behavior_tree::BtActionServer< ActionT >

An action server that uses behavior tree to execute an action.

Definition at line 35 of file bt_action_server.hpp.

Member Function Documentation

acceptPendingGoal()

template<class ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT >::acceptPendingGoal ( )

inline

Wrapper function to accept pending goal if a preempt has been requested.

Returns

Shared pointer to pending action goal

Definition at line 129 of file bt_action_server.hpp.

getBlackboard()

template<class ActionT >

BT::Blackboard::Ptr nav2_behavior_tree::BtActionServer< ActionT >::getBlackboard ( ) const

inline

Getter function for BT Blackboard.

Returns

BT::Blackboard::Ptr Shared pointer to current BT blackboard

Definition at line 102 of file bt_action_server.hpp.

getCurrentBTFilename()

template<class ActionT >

std::string nav2_behavior_tree::BtActionServer< ActionT >::getCurrentBTFilename ( ) const

inline

Getter function for current BT XML filename.

Returns

string Containing current BT XML filename

Definition at line 111 of file bt_action_server.hpp.

getCurrentGoal()

template<class ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT >::getCurrentGoal ( ) const

inline

Wrapper function to get current goal.

Returns

Shared pointer to current action goal

Definition at line 146 of file bt_action_server.hpp.

getDefaultBTFilename()

template<class ActionT >

std::string nav2_behavior_tree::BtActionServer< ActionT >::getDefaultBTFilename ( ) const

inline

Getter function for default BT XML filename.

Returns

string Containing default BT XML filename

Definition at line 120 of file bt_action_server.hpp.

getPendingGoal()

template<class ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT >::getPendingGoal ( ) const

inline

Wrapper function to get pending goal.

Returns

Shared pointer to pending action goal

Definition at line 155 of file bt_action_server.hpp.

getTree()

template<class ActionT >

const BT::Tree& nav2_behavior_tree::BtActionServer< ActionT >::getTree ( ) const

inline

Getter function for the current BT tree.

Returns

BT::Tree Current behavior tree

Definition at line 172 of file bt_action_server.hpp.

loadBehaviorTree()

template<class ActionT >

bool nav2_behavior_tree::BtActionServer< ActionT >::loadBehaviorTree

(

const std::string &

bt_xml_filename = ""

)

Replace current BT with another one.

Parameters

bt_xml_filename

The file containing the new BT, uses default filename if empty

Returns

bool true if the resulting BT correspond to the one in bt_xml_filename. false if something went wrong, and previous BT is maintained

Definition at line 176 of file bt_action_server_impl.hpp.

on_activate()

template<class ActionT >

bool nav2_behavior_tree::BtActionServer< ActionT >::on_activate

Activates action server.

Returns

bool true on SUCCESS and false on FAILURE

Definition at line 144 of file bt_action_server_impl.hpp.

on_cleanup()

template<class ActionT >

bool nav2_behavior_tree::BtActionServer< ActionT >::on_cleanup

Resets member variables.

Returns

bool true on SUCCESS and false on FAILURE

Definition at line 162 of file bt_action_server_impl.hpp.

on_configure()

template<class ActionT >

bool nav2_behavior_tree::BtActionServer< ActionT >::on_configure

Configures member variables Initializes action server for, builds behavior tree from xml file, and calls user-defined onConfigure.

Returns

bool true on SUCCESS and false on FAILURE

Definition at line 76 of file bt_action_server_impl.hpp.

on_deactivate()

template<class ActionT >

bool nav2_behavior_tree::BtActionServer< ActionT >::on_deactivate

Deactivates action server.

Returns

bool true on SUCCESS and false on FAILURE

Definition at line 155 of file bt_action_server_impl.hpp.

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

• nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
• nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp