A nav2_behavior_tree::BtServiceNode class that checks if a pose is occupied by calling the GetCosts service on the costmap. More...

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

Inheritance diagram for nav2_behavior_tree::CheckPoseOccupancy:

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Collaboration diagram for nav2_behavior_tree::CheckPoseOccupancy:

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

void	on_tick () override
	The main override required by a BT service. More...

BT::NodeStatus	on_completion (std::shared_ptr< nav2_msgs::srv::GetCosts::Response > response) override
	Function to perform some user-defined operation after receiving a result from the service. More...

Public Member Functions inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::GetCosts >
	BtServiceNode (const std::string &service_node_name, const BT::NodeConfiguration &conf, const std::string &service_name="")
	A nav2_behavior_tree::BtServiceNode constructor. More...

void	initialize ()
	Function to read parameters and initialize class variables.

void	createROSInterfaces ()
	Function to create ROS interfaces.

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

void	halt () override
	The other (optional) override required by a BT service.

virtual BT::NodeStatus	on_completion (std::shared_ptr< typename ServiceT::Response >)
	Function to perform some user-defined operation upon successful completion of the service. Could put a value on the blackboard. More...

virtual void	on_timeout ()
	Function to perform work in a BT Node when the service call times out.

virtual BT::NodeStatus	check_future ()
	Check the future and decide the status of BT. More...

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

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

Static Public Member Functions inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::GetCosts >
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	Any subclass of BtServiceNode 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::BtServiceNode< nav2_msgs::srv::GetCosts >
void	increment_recovery_count ()
	Function to increment recovery count on blackboard if this node wraps a recovery.

Protected Attributes inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::GetCosts >
std::string	service_name_

std::string	service_node_name_

nav2::ServiceClient< nav2_msgs::srv::GetCosts >::SharedPtr	service_client_

std::shared_ptr< typename ServiceT::Request >	request_

nav2::LifecycleNode::SharedPtr	node_

std::chrono::milliseconds	server_timeout_

std::chrono::milliseconds	max_timeout_

std::chrono::milliseconds	wait_for_service_timeout_

std::shared_future< typename ServiceT::Response::SharedPtr >	future_result_

bool	request_sent_

rclcpp::Time	sent_time_

bool	should_send_request_

Detailed Description

A nav2_behavior_tree::BtServiceNode class that checks if a pose is occupied by calling the GetCosts service on the costmap.

Usage in XML:

nav2_behavior_tree::CheckPoseOccupancy::CheckPoseOccupancy

CheckPoseOccupancy(const std::string &service_node_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::CheckPoseOccupancy.

Definition: check_pose_occupancy_action.cpp:24

Definition at line 42 of file check_pose_occupancy_action.hpp.

Constructor & Destructor Documentation

◆ CheckPoseOccupancy()

nav2_behavior_tree::CheckPoseOccupancy::CheckPoseOccupancy	(	const std::string &	service_node_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::CheckPoseOccupancy.

Parameters

service_node_name	Service name this node creates a client for
conf	BT node configuration

Definition at line 24 of file check_pose_occupancy_action.cpp.

Member Function Documentation

◆ on_completion()

BT::NodeStatus nav2_behavior_tree::CheckPoseOccupancy::on_completion ( std::shared_ptr< nav2_msgs::srv::GetCosts::Response > response )

override

Function to perform some user-defined operation after receiving a result from the service.

Parameters

response The response received from the service

Returns: BT::NodeStatus Status of tick execution after processing the response

Definition at line 46 of file check_pose_occupancy_action.cpp.

◆ on_tick()

void nav2_behavior_tree::CheckPoseOccupancy::on_tick ( )

overridevirtual

The main override required by a BT service.

Returns: BT::NodeStatus Status of tick execution

Reimplemented from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::GetCosts >.

Definition at line 33 of file check_pose_occupancy_action.cpp.

◆ providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 72 of file check_pose_occupancy_action.hpp.

References nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::GetCosts >::providedBasicPorts().

Here is the call graph for this function:

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

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

Public Member Functions

Static Public Member Functions