nav2_behavior_tree::BtCancelActionNode< ActionT > Class Template Reference

Abstract class representing an action for cancelling BT node. More...

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

Inheritance diagram for nav2_behavior_tree::BtCancelActionNode< ActionT >:

Collaboration diagram for nav2_behavior_tree::BtCancelActionNode< ActionT >:

Public Member Functions
	BtCancelActionNode (const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)
	A nav2_behavior_tree::BtCancelActionNode constructor. More...
void	createActionClient (const std::string &action_name)
	Create instance of an action client. More...
void	halt () override
BT::NodeStatus	tick () override
	The main override required by a BT action. More...

Static Public Member Functions
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	Any subclass of BtCancelActionNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it. More...
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Protected Attributes
std::string	action_name_
std::shared_ptr< rclcpp_action::Client< ActionT > >	action_client_
rclcpp::Node::SharedPtr	node_
rclcpp::CallbackGroup::SharedPtr	callback_group_
rclcpp::executors::SingleThreadedExecutor	callback_group_executor_
std::chrono::milliseconds	server_timeout_
std::chrono::milliseconds	wait_for_service_timeout_

Detailed Description

template<class ActionT>
class nav2_behavior_tree::BtCancelActionNode< ActionT >

Abstract class representing an action for cancelling BT node.

Template Parameters

ActionT

Type of action

Definition at line 37 of file bt_cancel_action_node.hpp.

Constructor & Destructor Documentation

BtCancelActionNode()

template<class ActionT >

nav2_behavior_tree::BtCancelActionNode< ActionT >::BtCancelActionNode ( const std::string &  xml_tag_name, const std::string &  action_name, const BT::NodeConfiguration &  conf  )

inline

A nav2_behavior_tree::BtCancelActionNode constructor.

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 46 of file bt_cancel_action_node.hpp.

Member Function Documentation

createActionClient()

template<class ActionT >

void nav2_behavior_tree::BtCancelActionNode< ActionT >::createActionClient ( const std::string &  action_name )

inline

Create instance of an action client.

Parameters

action_name

Action name to create client for

Definition at line 85 of file bt_cancel_action_node.hpp.

providedBasicPorts()

template<class ActionT >

static BT::PortsList nav2_behavior_tree::BtCancelActionNode< ActionT >::providedBasicPorts ( BT::PortsList  addition )

inlinestatic

Any subclass of BtCancelActionNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it.

Parameters

addition

Additional ports to add to BT port list

Returns

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

Definition at line 108 of file bt_cancel_action_node.hpp.

providedPorts()

template<class ActionT >

static BT::PortsList nav2_behavior_tree::BtCancelActionNode< ActionT >::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 127 of file bt_cancel_action_node.hpp.

tick()

template<class ActionT >

BT::NodeStatus nav2_behavior_tree::BtCancelActionNode< ActionT >::tick ( )

inlineoverride

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 136 of file bt_cancel_action_node.hpp.

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

• nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp