A class to publish BT logs on BT status change. More...

Inheritance diagram for nav2_behavior_tree::RosTopicLogger:

Collaboration diagram for nav2_behavior_tree::RosTopicLogger:

Public Member Functions
	RosTopicLogger (const nav2::LifecycleNode::WeakPtr &ros_node, const BT::Tree &tree)
	A constructor for nav2_behavior_tree::RosTopicLogger. More...

void	callback (BT::Duration timestamp, const BT::TreeNode &node, BT::NodeStatus prev_status, BT::NodeStatus status) override
	Callback function which is called each time BT changes status. More...

void	flush () override
	Clear log buffer if any.

Protected Attributes
rclcpp::Clock::SharedPtr	clock_

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

rclcpp::Publisher< nav2_msgs::msg::BehaviorTreeLog >::SharedPtr	log_pub_

std::vector< nav2_msgs::msg::BehaviorTreeStatusChange >	event_log_

Detailed Description

A class to publish BT logs on BT status change.

Definition at line 35 of file ros_topic_logger.hpp.

Constructor & Destructor Documentation

nav2_behavior_tree::RosTopicLogger::RosTopicLogger	(	const nav2::LifecycleNode::WeakPtr &	ros_node,
		const BT::Tree &	tree
	)

inline

Parameters

ros_node	Weak pointer to parent nav2::LifecycleNode
tree	BT to monitor

Definition at line 43 of file ros_topic_logger.hpp.

void nav2_behavior_tree::RosTopicLogger::callback	(	BT::Duration	timestamp,
		const BT::TreeNode &	node,
		BT::NodeStatus	prev_status,
		BT::NodeStatus	status
	)

inlineoverride

Callback function which is called each time BT changes status.

Parameters

timestamp	Timestamp of BT status change
node	Node that changed status
prev_status	Previous status of the node
status	Current status of the node

Definition at line 60 of file ros_topic_logger.hpp.

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