nav2_behavior_tree::IsBatteryLowCondition Class Reference

A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is low and FAILURE otherwise. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp>

Inheritance diagram for nav2_behavior_tree::IsBatteryLowCondition:

Collaboration diagram for nav2_behavior_tree::IsBatteryLowCondition:

Public Member Functions
	IsBatteryLowCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::IsBatteryLowCondition. More...
BT::NodeStatus	tick () override
	The main override required by a BT action. More...
void	initialize ()
	Function to read parameters and initialize class variables.
void	createROSInterfaces ()
	Function to create ROS interfaces.

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

Detailed Description

A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is low and FAILURE otherwise.

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 36 of file is_battery_low_condition.hpp.

Constructor & Destructor Documentation

IsBatteryLowCondition()

nav2_behavior_tree::IsBatteryLowCondition::IsBatteryLowCondition	(	const std::string &	condition_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::IsBatteryLowCondition.

Parameters

condition_name	Name for the XML tag for this node
conf	BT node configuration

Definition at line 23 of file is_battery_low_condition.cpp.

References initialize().

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Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 70 of file is_battery_low_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::IsBatteryLowCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 68 of file is_battery_low_condition.cpp.

References initialize().

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

• nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp
• nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp