nav2_behavior_tree::ComputePathToPoseAction Class Reference

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

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

Inheritance diagram for nav2_behavior_tree::ComputePathToPoseAction:

Collaboration diagram for nav2_behavior_tree::ComputePathToPoseAction:

Public Member Functions
	ComputePathToPoseAction (const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::ComputePathToPoseAction. 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.
void	on_timeout () override
	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.
void	halt () override
	Override required by the a BT action. Cancel the action and set the path output.
Public Member Functions inherited from nav2_behavior_tree::BtActionNode< nav2_msgs::action::ComputePathToPose >
	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::ComputePathToPose >
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::ComputePathToPose >
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::ComputePathToPose >
std::string	action_name_
std::shared_ptr< rclcpp_action::Client< nav2_msgs::action::ComputePathToPose > >	action_client_
ActionT::Goal	goal_
bool	goal_updated_
bool	goal_result_available_
rclcpp_action::ClientGoalHandle< nav2_msgs::action::ComputePathToPose >::SharedPtr	goal_handle_
rclcpp_action::ClientGoalHandle< nav2_msgs::action::ComputePathToPose >::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::ComputePathToPose >::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::ComputePathToPose.

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 32 of file compute_path_to_pose_action.hpp.

Constructor & Destructor Documentation

ComputePathToPoseAction()

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

A constructor for nav2_behavior_tree::ComputePathToPoseAction.

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 compute_path_to_pose_action.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 84 of file compute_path_to_pose_action.hpp.

References nav2_behavior_tree::BtActionNode< nav2_msgs::action::ComputePathToPose >::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/compute_path_to_pose_action.hpp
• nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp