An action server that uses behavior tree to execute an action. More...

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

Collaboration diagram for nav2_behavior_tree::BtActionServer< ActionT, NodeT >:

Public Types
using	ActionServer = nav2::SimpleActionServer< ActionT >

typedef std::function< bool(typename ActionT::Goal::ConstSharedPtr)>	OnGoalReceivedCallback

typedef std::function< void()>	OnLoopCallback

typedef std::function< void(typename ActionT::Goal::ConstSharedPtr)>	OnPreemptCallback

typedef std::function< void(typename ActionT::Result::SharedPtr, nav2_behavior_tree::BtStatus)>	OnCompletionCallback

Public Member Functions
	BtActionServer (const typename NodeT::WeakPtr &parent, const std::string &action_name, const std::vector< std::string > &plugin_lib_names, const std::string &default_bt_xml_filename, OnGoalReceivedCallback on_goal_received_callback, OnLoopCallback on_loop_callback, OnPreemptCallback on_preempt_callback, OnCompletionCallback on_completion_callback, const std::vector< std::string > &search_directories=std::vector< std::string >{})
	A constructor for nav2_behavior_tree::BtActionServer class.

	~BtActionServer ()
	A destructor for nav2_behavior_tree::BtActionServer class.

bool	on_configure ()
	Configures member variables Initializes action server for, builds behavior tree from xml file, and calls user-defined onConfigure. More...

bool	on_activate ()
	Activates action server. More...

bool	on_deactivate ()
	Deactivates action server. More...

bool	on_cleanup ()
	Resets member variables. More...

void	setGrootMonitoring (const bool enable, const unsigned server_port)
	Enable (or disable) Groot2 monitoring of BT. More...

bool	loadBehaviorTree (const std::string &bt_xml_filename_or_id="")
	Replace current BT with another one. More...

std::string	extractBehaviorTreeID (const std::string &file_or_id)
	Extract BehaviorTree ID from XML file. More...

BT::Blackboard::Ptr	getBlackboard () const
	Getter function for BT Blackboard. More...

std::string	getCurrentBTFilenameOrID () const
	Getter function for current BT XML filename. More...

std::string	getDefaultBTFilenameOrID () const
	Getter function for default BT XML filename or ID. More...

const std::shared_ptr< const typename ActionT::Goal >	acceptPendingGoal ()
	Wrapper function to accept pending goal if a preempt has been requested. More...

void	terminatePendingGoal ()
	Wrapper function to terminate pending goal if a preempt has been requested.

const std::shared_ptr< const typename ActionT::Goal >	getCurrentGoal () const
	Wrapper function to get current goal. More...

const std::shared_ptr< const typename ActionT::Goal >	getPendingGoal () const
	Wrapper function to get pending goal. More...

void	publishFeedback (typename std::shared_ptr< typename ActionT::Feedback > feedback)
	Wrapper function to publish action feedback.

const BT::Tree &	getTree () const
	Getter function for the current BT tree. More...

void	haltTree ()
	Function to halt the current tree. It will interrupt the execution of RUNNING nodes by calling their halt() implementation (only for Async nodes that may return RUNNING) This should already done for all the exit states of the action but preemption.

void	setInternalError (uint16_t error_code, const std::string &error_msg)
	Set internal error code and message. More...

void	resetInternalError (void)
	reset internal error code and message

bool	populateInternalError (typename std::shared_ptr< typename ActionT::Result > result)
	populate result with internal error code and error_msg if not NONE More...

Protected Member Functions
void	executeCallback ()
	Action server callback.

void	populateErrorCode (typename std::shared_ptr< typename ActionT::Result > result)
	updates the action server result to the highest priority error code posted on the blackboard More...

void	cleanErrorCodes ()
	Setting BT error codes to success. Used to clean blackboard between different BT runs.

Protected Attributes
std::string	action_name_

ActionServer::SharedPtr	action_server_

BT::Tree	tree_

BT::Blackboard::Ptr	blackboard_

std::string	current_bt_file_or_id_

std::string	default_bt_xml_filename_or_id_

std::vector< std::string >	search_directories_

std::unique_ptr< nav2_behavior_tree::BehaviorTreeEngine >	bt_

std::vector< std::string >	plugin_lib_names_

std::vector< std::string >	error_code_name_prefixes_

nav2::LifecycleNode::SharedPtr	client_node_

NodeT::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("BtActionServer")}

std::unique_ptr< RosTopicLogger >	topic_logger_

std::chrono::milliseconds	bt_loop_duration_

std::chrono::milliseconds	default_server_timeout_

std::chrono::milliseconds	wait_for_service_timeout_

bool	always_reload_bt_ = false

bool	enable_groot_monitoring_ = false

int	groot_server_port_ = 1667

OnGoalReceivedCallback	on_goal_received_callback_

OnLoopCallback	on_loop_callback_

OnPreemptCallback	on_preempt_callback_

OnCompletionCallback	on_completion_callback_

uint16_t	internal_error_code_

std::string	internal_error_msg_

Detailed Description

template<class ActionT, class NodeT>
class nav2_behavior_tree::BtActionServer< ActionT, NodeT >

An action server that uses behavior tree to execute an action.

Definition at line 37 of file bt_action_server.hpp.

Member Function Documentation

◆ acceptPendingGoal()

template<class ActionT , class NodeT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT, NodeT >::acceptPendingGoal ( )

inline

Wrapper function to accept pending goal if a preempt has been requested.

Returns: Shared pointer to pending action goal

Definition at line 146 of file bt_action_server.hpp.

◆ extractBehaviorTreeID()

template<class ActionT , class NodeT >

std::string nav2_behavior_tree::BtActionServer< ActionT, NodeT >::extractBehaviorTreeID ( const std::string & file_or_id )

Extract BehaviorTree ID from XML file.

Parameters

filename The file containing the BT

Returns: std::string BehaviorTree ID if found, empty string otherwise

◆ getBlackboard()

template<class ActionT , class NodeT >

BT::Blackboard::Ptr nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getBlackboard ( ) const

inline

Getter function for BT Blackboard.

Returns: BT::Blackboard::Ptr Shared pointer to current BT blackboard

Definition at line 119 of file bt_action_server.hpp.

◆ getCurrentBTFilenameOrID()

template<class ActionT , class NodeT >

std::string nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getCurrentBTFilenameOrID ( ) const

inline

Getter function for current BT XML filename.

Returns: string Containing current BT XML filename

Definition at line 128 of file bt_action_server.hpp.

◆ getCurrentGoal()

template<class ActionT , class NodeT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getCurrentGoal ( ) const

inline

Wrapper function to get current goal.

Returns: Shared pointer to current action goal

Definition at line 163 of file bt_action_server.hpp.

◆ getDefaultBTFilenameOrID()

template<class ActionT , class NodeT >

std::string nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getDefaultBTFilenameOrID ( ) const

inline

Getter function for default BT XML filename or ID.

Returns: string Containing default BT XML filename or ID

Definition at line 137 of file bt_action_server.hpp.

◆ getPendingGoal()

template<class ActionT , class NodeT >

const std::shared_ptr<const typename ActionT::Goal> nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getPendingGoal ( ) const

inline

Wrapper function to get pending goal.

Returns: Shared pointer to pending action goal

Definition at line 172 of file bt_action_server.hpp.

◆ getTree()

template<class ActionT , class NodeT >

const BT::Tree& nav2_behavior_tree::BtActionServer< ActionT, NodeT >::getTree ( ) const

inline

Getter function for the current BT tree.

Returns: BT::Tree Current behavior tree

Definition at line 189 of file bt_action_server.hpp.

◆ loadBehaviorTree()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::loadBehaviorTree ( const std::string & bt_xml_filename_or_id = "" )

Replace current BT with another one.

Parameters

bt_xml_filename_or_id The file containing the new BT, uses default filename if empty or BT ID

Returns: bool true if the resulting BT correspond to the one in bt_xml_filename_or_id. false if something went wrong, and previous BT is maintained

Definition at line 250 of file bt_action_server_impl.hpp.

◆ on_activate()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::on_activate

Activates action server.

Returns: bool true on SUCCESS and false on FAILURE

Definition at line 205 of file bt_action_server_impl.hpp.

◆ on_cleanup()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::on_cleanup

Resets member variables.

Returns: bool true on SUCCESS and false on FAILURE

Definition at line 224 of file bt_action_server_impl.hpp.

◆ on_configure()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::on_configure

Configures member variables Initializes action server for, builds behavior tree from xml file, and calls user-defined onConfigure.

Returns: bool true on SUCCESS and false on FAILURE

Definition at line 132 of file bt_action_server_impl.hpp.

◆ on_deactivate()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::on_deactivate

Deactivates action server.

Returns: bool true on SUCCESS and false on FAILURE

Definition at line 217 of file bt_action_server_impl.hpp.

◆ populateErrorCode()

template<class ActionT , class NodeT >

void nav2_behavior_tree::BtActionServer< ActionT, NodeT >::populateErrorCode ( typename std::shared_ptr< typename ActionT::Result > result )

protected

updates the action server result to the highest priority error code posted on the blackboard

Parameters

result the action server result to be updated

Definition at line 438 of file bt_action_server_impl.hpp.

◆ populateInternalError()

template<class ActionT , class NodeT >

bool nav2_behavior_tree::BtActionServer< ActionT, NodeT >::populateInternalError ( typename std::shared_ptr< typename ActionT::Result > result )

populate result with internal error code and error_msg if not NONE

Parameters

result the action server result to be updated

Returns: bool action server result was changed

Definition at line 426 of file bt_action_server_impl.hpp.

◆ setGrootMonitoring()

template<class ActionT , class NodeT >

void nav2_behavior_tree::BtActionServer< ActionT, NodeT >::setGrootMonitoring	(	const bool	enable,
		const unsigned	server_port
	)

Enable (or disable) Groot2 monitoring of BT.

Parameters

enable	Groot2 monitoring
server_port	Groot2 Server port, first of the pair (server_port, publisher_port)

Definition at line 241 of file bt_action_server_impl.hpp.

◆ setInternalError()

template<class ActionT , class NodeT >

void nav2_behavior_tree::BtActionServer< ActionT, NodeT >::setInternalError	(	uint16_t	error_code,
		const std::string &	error_msg
	)

Set internal error code and message.

Parameters

error_code	the internal error code
error_msg	the internal error message

Definition at line 408 of file bt_action_server_impl.hpp.

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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class ActionT, class NodeT> class nav2_behavior_tree::BtActionServer< ActionT, NodeT >

Member Function Documentation

◆ acceptPendingGoal()

◆ extractBehaviorTreeID()

◆ getBlackboard()

◆ getCurrentBTFilenameOrID()

◆ getCurrentGoal()

◆ getDefaultBTFilenameOrID()

◆ getPendingGoal()

◆ getTree()

◆ loadBehaviorTree()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ populateErrorCode()

◆ populateInternalError()

◆ setGrootMonitoring()

◆ setInternalError()

template<class ActionT, class NodeT>
class nav2_behavior_tree::BtActionServer< ActionT, NodeT >