A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp>

Inheritance diagram for nav2_behavior_tree::FollowPathAction:

Collaboration diagram for nav2_behavior_tree::FollowPathAction:

Public Member Functions
	FollowPathAction (const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::FollowPathAction. More...

void	on_tick () override
	Function to perform some user-defined operation on tick.

void	on_wait_for_result (std::shared_ptr< const nav2_msgs::action::FollowPath::Feedback > feedback) override
	Function to perform some user-defined operation after a timeout waiting for a result that hasn't been received yet. More...

Public Member Functions inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath >
	BtActionNode (const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)
	A nav2_behavior_tree::BtActionNode constructor. More...

void	createActionClient (const std::string &action_name)
	Create instance of an action client. More...

virtual void	on_wait_for_result (std::shared_ptr< const typename ActionT::Feedback >)
	Function to perform some user-defined operation after a timeout waiting for a result that hasn't been received yet. Also provides access to the latest feedback message from the action server. Feedback will be nullptr in subsequent calls to this function if no new feedback is received while waiting for a result. More...

virtual BT::NodeStatus	on_success ()
	Function to perform some user-defined operation upon successful completion of the action. Could put a value on the blackboard. More...

virtual BT::NodeStatus	on_aborted ()
	Function to perform some user-defined operation when the action is aborted. More...

virtual BT::NodeStatus	on_cancelled ()
	Function to perform some user-defined operation when the action is cancelled. More...

BT::NodeStatus	tick () override
	The main override required by a BT action. More...

void	halt () override
	The other (optional) override required by a BT action. In this case, we make sure to cancel the ROS2 action if it is still running.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Static Public Member Functions inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath >
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	Any subclass of BtActionNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it. More...

static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Additional Inherited Members
Protected Member Functions inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath >
bool	should_cancel_goal ()
	Function to check if current goal should be cancelled. More...

void	send_new_goal ()
	Function to send new goal to action server.

bool	is_future_goal_handle_complete (std::chrono::milliseconds &elapsed)
	Function to check if the action server acknowledged a new goal. More...

void	increment_recovery_count ()
	Function to increment recovery count on blackboard if this node wraps a recovery.

Protected Attributes inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath >
std::string	action_name_

std::shared_ptr< rclcpp_action::Client< nav2_msgs::action::FollowPath > >	action_client_

ActionT::Goal	goal_

bool	goal_updated_

bool	goal_result_available_

rclcpp_action::ClientGoalHandle< nav2_msgs::action::FollowPath >::SharedPtr	goal_handle_

rclcpp_action::ClientGoalHandle< nav2_msgs::action::FollowPath >::WrappedResult	result_

std::shared_ptr< const typename ActionT::Feedback >	feedback_

rclcpp::Node::SharedPtr	node_

rclcpp::CallbackGroup::SharedPtr	callback_group_

rclcpp::executors::SingleThreadedExecutor	callback_group_executor_

std::chrono::milliseconds	server_timeout_

std::chrono::milliseconds	max_timeout_

std::chrono::milliseconds	wait_for_service_timeout_

std::shared_ptr< std::shared_future< typename rclcpp_action::ClientGoalHandle< nav2_msgs::action::FollowPath >::SharedPtr > >	future_goal_handle_

rclcpp::Time	time_goal_sent_

bool	should_send_goal_

Detailed Description

A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath.

Definition at line 30 of file follow_path_action.hpp.

Constructor & Destructor Documentation

◆ FollowPathAction()

nav2_behavior_tree::FollowPathAction::FollowPathAction	(	const std::string &	xml_tag_name,
		const std::string &	action_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::FollowPathAction.

Parameters

xml_tag_name	Name for the XML tag for this node
action_name	Action name this node creates a client for
conf	BT node configuration

Definition at line 23 of file follow_path_action.cpp.

Member Function Documentation

◆ on_wait_for_result()

void nav2_behavior_tree::FollowPathAction::on_wait_for_result ( std::shared_ptr< const nav2_msgs::action::FollowPath::Feedback > feedback )

override

Function to perform some user-defined operation after a timeout waiting for a result that hasn't been received yet.

Parameters

feedback shared_ptr to latest feedback message

Definition at line 38 of file follow_path_action.cpp.

◆ providedPorts()

static BT::PortsList nav2_behavior_tree::FollowPathAction::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing basic ports along with node-specific ports

Definition at line 61 of file follow_path_action.hpp.

References nav2_behavior_tree::BtActionNode< nav2_msgs::action::FollowPath >::providedBasicPorts().

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

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp
nav2_behavior_tree/plugins/action/follow_path_action.cpp

Public Member Functions