nav2_behavior_tree::BtServiceNode< ServiceT > Class Template Reference

Abstract class representing a service based BT node. More...

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

Inheritance diagram for nav2_behavior_tree::BtServiceNode< ServiceT >:

Collaboration diagram for nav2_behavior_tree::BtServiceNode< ServiceT >:

Public Member Functions
	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 void	on_tick ()
	Function to perform some user-defined operation on tick Fill in service request with information if necessary.
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 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	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...

Protected Member Functions
void	increment_recovery_count ()
	Function to increment recovery count on blackboard if this node wraps a recovery.

Protected Attributes
std::string	service_name_
std::string	service_node_name_
nav2::ServiceClient< ServiceT >::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_ {false}
rclcpp::Time	sent_time_
bool	should_send_request_

Detailed Description

template<class ServiceT>
class nav2_behavior_tree::BtServiceNode< ServiceT >

Abstract class representing a service based BT node.

Template Parameters

ServiceT

Type of service

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 42 of file bt_service_node.hpp.

Constructor & Destructor Documentation

BtServiceNode()

template<class ServiceT >

nav2_behavior_tree::BtServiceNode< ServiceT >::BtServiceNode ( const std::string &  service_node_name, const BT::NodeConfiguration &  conf, const std::string &  service_name = ""  )

inline

A nav2_behavior_tree::BtServiceNode constructor.

Parameters

service_node_name	BT node name
conf	BT node configuration
service_name	Optional service name this node creates a client for instead of from input port

Definition at line 51 of file bt_service_node.hpp.

Member Function Documentation

check_future()

template<class ServiceT >

virtual BT::NodeStatus nav2_behavior_tree::BtServiceNode< ServiceT >::check_future ( )

inlinevirtual

Check the future and decide the status of BT.

Returns

BT::NodeStatus SUCCESS if future complete before timeout, FAILURE otherwise

Definition at line 213 of file bt_service_node.hpp.

on_completion()

template<class ServiceT >

virtual BT::NodeStatus nav2_behavior_tree::BtServiceNode< ServiceT >::on_completion ( std::shared_ptr< typename ServiceT::Response >  )

inlinevirtual

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

Parameters

response

can be used to get the result of the service call in the BT Node.

Returns

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

Definition at line 204 of file bt_service_node.hpp.

providedBasicPorts()

template<class ServiceT >

static BT::PortsList nav2_behavior_tree::BtServiceNode< ServiceT >::providedBasicPorts ( BT::PortsList  addition )

inlinestatic

Any subclass of BtServiceNode 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 129 of file bt_service_node.hpp.

providedPorts()

template<class ServiceT >

static BT::PortsList nav2_behavior_tree::BtServiceNode< ServiceT >::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 144 of file bt_service_node.hpp.

tick()

template<class ServiceT >

BT::NodeStatus nav2_behavior_tree::BtServiceNode< ServiceT >::tick ( )

inlineoverride

The main override required by a BT service.

Returns

BT::NodeStatus Status of tick execution

Definition at line 153 of file bt_service_node.hpp.

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

• nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp