A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::NavigateToPose. More...
#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp>
Inheritance diagram for nav2_behavior_tree::NavigateToPoseAction:
Collaboration diagram for nav2_behavior_tree::NavigateToPoseAction:
Public Member Functions | |
| NavigateToPoseAction (const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf) | |
| A constructor for nav2_behavior_tree::NavigateToPoseAction. More... | |
| void | on_tick () override |
| Function to perform some user-defined operation on tick. | |
| BT::NodeStatus | on_success () override |
| Function to perform some user-defined operation upon successful completion of the action. | |
| BT::NodeStatus | on_aborted () override |
| Function to perform some user-defined operation upon abortion of the action. | |
| BT::NodeStatus | on_cancelled () override |
| Function to perform some user-defined operation upon cancellation of the action. | |
 Public Member Functions inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::NavigateToPose > | |
| 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... | |
| 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::NavigateToPose > | |
| 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::NavigateToPose > | |
| 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::NavigateToPose > | |
| std::string | action_name_ |
| std::shared_ptr< rclcpp_action::Client< nav2_msgs::action::NavigateToPose > > | action_client_ |
| ActionT::Goal | goal_ |
| bool | goal_updated_ |
| bool | goal_result_available_ |
| rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose >::SharedPtr | goal_handle_ |
| rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose >::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::NavigateToPose >::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::NavigateToPose.
Definition at line 31 of file navigate_to_pose_action.hpp.
Constructor & Destructor Documentation
◆ NavigateToPoseAction()
| nav2_behavior_tree::NavigateToPoseAction::NavigateToPoseAction | ( | const std::string & | xml_tag_name, |
| const std::string & | action_name, | ||
| const BT::NodeConfiguration & | conf | ||
| ) |
A constructor for nav2_behavior_tree::NavigateToPoseAction.
- 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 navigate_to_pose_action.cpp.
Member Function Documentation
◆ providedPorts()
|
inlinestatic |
Creates list of BT ports.
- Returns
- BT::PortsList Containing basic ports along with node-specific ports
Definition at line 72 of file navigate_to_pose_action.hpp.
References nav2_behavior_tree::BtActionNode< nav2_msgs::action::NavigateToPose >::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/navigate_to_pose_action.hpp
- nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
