Abstract class representing an action based BT node. More...

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

Inheritance diagram for nav2_behavior_tree::BtActionNode< ActionT >:

Collaboration diagram for nav2_behavior_tree::BtActionNode< ActionT >:

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Public Member Functions
	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_tick ()
	Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.

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...

virtual void	on_timeout ()
	Function to perform work in a BT Node when the action server times out Such as setting the error code ID status to timed out for action clients.

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	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...

Protected Member Functions
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
std::string	action_name_

std::shared_ptr< rclcpp_action::Client< ActionT > >	action_client_

ActionT::Goal	goal_

bool	goal_updated_ {false}

bool	goal_result_available_ {false}

rclcpp_action::ClientGoalHandle< ActionT >::SharedPtr	goal_handle_

rclcpp_action::ClientGoalHandle< ActionT >::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< ActionT >::SharedPtr > >	future_goal_handle_

rclcpp::Time	time_goal_sent_

bool	should_send_goal_

Detailed Description

template<class ActionT>
class nav2_behavior_tree::BtActionNode< ActionT >

Abstract class representing an action based BT node.

Template Parameters

ActionT Type of action

Note: This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.

Definition at line 41 of file bt_action_node.hpp.

Constructor & Destructor Documentation

◆ BtActionNode()

template<class ActionT >

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

inline

A nav2_behavior_tree::BtActionNode 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 50 of file bt_action_node.hpp.

Member Function Documentation

◆ createActionClient()

template<class ActionT >

void nav2_behavior_tree::BtActionNode< 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 96 of file bt_action_node.hpp.

◆ is_future_goal_handle_complete()

template<class ActionT >

bool nav2_behavior_tree::BtActionNode< ActionT >::is_future_goal_handle_complete ( std::chrono::milliseconds & elapsed )

inlineprotected

Function to check if the action server acknowledged a new goal.

Parameters

elapsed Duration since the last goal was sent and future goal handle has not completed. After waiting for the future to complete, this value is incremented with the timeout value.

Returns: boolean True if future_goal_handle_ returns SUCCESS, False otherwise

Definition at line 424 of file bt_action_node.hpp.

◆ on_aborted()

template<class ActionT >

virtual BT::NodeStatus nav2_behavior_tree::BtActionNode< ActionT >::on_aborted ( )

inlinevirtual

Function to perform some user-defined operation when the action is aborted.

Returns: BT::NodeStatus Returns FAILURE by default, user may override return another value

Definition at line 176 of file bt_action_node.hpp.

◆ on_cancelled()

template<class ActionT >

virtual BT::NodeStatus nav2_behavior_tree::BtActionNode< ActionT >::on_cancelled ( )

inlinevirtual

Function to perform some user-defined operation when the action is cancelled.

Returns: BT::NodeStatus Returns SUCCESS by default, user may override return another value

Definition at line 185 of file bt_action_node.hpp.

◆ on_success()

template<class ActionT >

virtual BT::NodeStatus nav2_behavior_tree::BtActionNode< ActionT >::on_success ( )

inlinevirtual

Function to perform some user-defined operation upon successful completion of the action. Could put a value on the blackboard.

Returns: BT::NodeStatus Returns SUCCESS by default, user may override return another value

Definition at line 167 of file bt_action_node.hpp.

◆ on_wait_for_result()

template<class ActionT >

virtual void nav2_behavior_tree::BtActionNode< ActionT >::on_wait_for_result ( std::shared_ptr< const typename ActionT::Feedback > )

inlinevirtual

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.

Parameters

feedback shared_ptr to latest feedback message, nullptr if no new feedback was received

Definition at line 158 of file bt_action_node.hpp.

◆ providedBasicPorts()

template<class ActionT >

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

inlinestatic

Any subclass of BtActionNode 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 120 of file bt_action_node.hpp.

◆ providedPorts()

template<class ActionT >

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

inlinestatic

Creates list of BT ports.

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

Definition at line 135 of file bt_action_node.hpp.

◆ should_cancel_goal()

template<class ActionT >

bool nav2_behavior_tree::BtActionNode< ActionT >::should_cancel_goal ( )

inlineprotected

Function to check if current goal should be cancelled.

Returns: bool True if current goal should be cancelled, false otherwise

Definition at line 359 of file bt_action_node.hpp.

◆ tick()

template<class ActionT >

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

inlineoverride

The main override required by a BT action.

Returns: BT::NodeStatus Status of tick execution

Definition at line 203 of file bt_action_node.hpp.

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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class ActionT> class nav2_behavior_tree::BtActionNode< ActionT >

Constructor & Destructor Documentation

◆ BtActionNode()

Member Function Documentation

◆ createActionClient()

◆ is_future_goal_handle_complete()

◆ on_aborted()

◆ on_cancelled()

◆ on_success()

◆ on_wait_for_result()

◆ providedBasicPorts()

◆ providedPorts()

◆ should_cancel_goal()

◆ tick()

template<class ActionT>
class nav2_behavior_tree::BtActionNode< ActionT >