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Resilient Robot Mission Management
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Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
RosActionNode< ActionT > Class Template Reference

#include <auto_apms_behavior_tree/node/ros_action_node.hpp>

Inheritance diagram for RosActionNode< ActionT >:
Inheritance graph
[legend]

Public Types

using ActionType = ActionT
 
using Goal = typename ActionT::Goal
 
using Feedback = typename ActionT::Feedback
 
using WrappedResult = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult
 
using Config = BT::NodeConfig
 
using Context = RosNodeContext
 

Public Member Functions

 RosActionNode (const std::string &instance_name, const Config &config, const Context &context)
 
virtual ~RosActionNode ()=default
 
virtual void onHalt ()
 
virtual bool setGoal (Goal &goal)
 
virtual BT::NodeStatus onResultReceived (const WrappedResult &result)
 
virtual BT::NodeStatus onFeedback (const std::shared_ptr< const Feedback > feedback_ptr)
 
virtual BT::NodeStatus onFailure (ActionNodeErrorCode error)
 
void cancelGoal ()
 
void halt () override
 
BT::NodeStatus tick () override
 
void setActionName (const std::string &action_name)
 
std::string getFullName () const
 

Static Public Member Functions

static BT::PortsList providedBasicPorts (BT::PortsList addition)
 
static BT::PortsList providedPorts ()
 

Protected Member Functions

const Context & getRosContext ()
 

Static Protected Member Functions

static std::mutex & getMutex ()
 
static ClientsRegistry & getRegistry ()
 

Protected Attributes

const rclcpp::Logger logger_
 

Detailed Description

template<class ActionT>
class auto_apms_behavior_tree::RosActionNode< ActionT >

Abstract class to wrap rclcpp_action::Client<>

For instance, given the type AddTwoInts described in this tutorial: https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html

the corresponding wrapper would be:

class FibonacciNode: public RosActionNode<action_tutorials_interfaces::action::Fibonacci>

RosActionNode will try to be non-blocking for the entire duration of the call. The derived class must reimplement the virtual methods as described below.

The name of the action will be determined as follows:

  1. If a value is passes in the BT::InputPort "action_name", use that
  2. Otherwise, use the value in RosNodeContext::default_port_name.

Definition at line 73 of file ros_action_node.hpp.

Member Typedef Documentation

◆ ActionType

template<class ActionT >
using ActionType = ActionT

Definition at line 92 of file ros_action_node.hpp.

◆ Goal

template<class ActionT >
using Goal = typename ActionT::Goal

Definition at line 93 of file ros_action_node.hpp.

◆ Feedback

template<class ActionT >
using Feedback = typename ActionT::Feedback

Definition at line 94 of file ros_action_node.hpp.

◆ WrappedResult

template<class ActionT >
using WrappedResult = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult

Definition at line 95 of file ros_action_node.hpp.

◆ Config

template<class ActionT >
using Config = BT::NodeConfig

Definition at line 96 of file ros_action_node.hpp.

◆ Context

template<class ActionT >
using Context = RosNodeContext

Definition at line 97 of file ros_action_node.hpp.

Constructor & Destructor Documentation

◆ RosActionNode()

template<class ActionT >
RosActionNode ( const std::string & instance_name,
const Config & config,
const Context & context )
inlineexplicit

Definition at line 209 of file ros_action_node.hpp.

◆ ~RosActionNode()

template<class ActionT >
virtual ~RosActionNode ( )
virtualdefault

Member Function Documentation

◆ providedBasicPorts()

template<class ActionT >
static BT::PortsList providedBasicPorts ( BT::PortsList addition)
inlinestatic

Any subclass of RosActionNode that has ports must implement a providedPorts method and call providedBasicPorts in it.

Parameters
additionAdditional ports to add to BT port list
Returns
BT::PortsList containing basic ports along with node-specific ports

Definition at line 110 of file ros_action_node.hpp.

◆ providedPorts()

template<class ActionT >
static BT::PortsList providedPorts ( )
inlinestatic

Creates list of BT ports.

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

Definition at line 121 of file ros_action_node.hpp.

◆ onHalt()

template<class ActionT >
void onHalt ( )
inlinevirtual

Callback executed when the node is halted. Note that cancelGoal() is done automatically.

Definition at line 285 of file ros_action_node.hpp.

◆ setGoal()

template<class ActionT >
bool setGoal ( Goal & goal)
inlinevirtual

setGoal s a callback that allows the user to set the goal message (ActionT::Goal).

Parameters
goalthe goal to be sent to the action server.
Returns
false if the request should not be sent. In that case, RosActionNode::onFailure(INVALID_GOAL) will be called.

Definition at line 290 of file ros_action_node.hpp.

◆ onResultReceived()

template<class ActionT >
BT::NodeStatus onResultReceived ( const WrappedResult & result)
inlinevirtual

Callback invoked when the result is received by the server. It is up to the user to define if the action returns SUCCESS or FAILURE.

Definition at line 296 of file ros_action_node.hpp.

◆ onFeedback()

template<class ActionT >
BT::NodeStatus onFeedback ( const std::shared_ptr< const Feedback > feedback_ptr)
inlinevirtual

Callback invoked when the feedback is received. It generally returns RUNNING, but the user can also use this callback to cancel the current action and return SUCCESS or FAILURE.

Definition at line 304 of file ros_action_node.hpp.

◆ onFailure()

template<class ActionT >
BT::NodeStatus onFailure ( ActionNodeErrorCode error)
inlinevirtual

Callback invoked when something goes wrong. It must return either SUCCESS or FAILURE.

Definition at line 310 of file ros_action_node.hpp.

◆ cancelGoal()

template<class T >
void cancelGoal ( )
inline

Method used to send a request to the Action server to cancel the current goal.

Wait for the cancellation to be complete

Definition at line 317 of file ros_action_node.hpp.

◆ halt()

template<class T >
void halt ( )
inlineoverride

The default halt() implementation will call cancelGoal if necessary.

Definition at line 351 of file ros_action_node.hpp.

◆ tick()

template<class T >
BT::NodeStatus tick ( )
inlineoverride

Definition at line 361 of file ros_action_node.hpp.

◆ setActionName()

template<class T >
void setActionName ( const std::string & action_name)
inline

Can be used to change the name of the action programmatically.

Definition at line 500 of file ros_action_node.hpp.

◆ getFullName()

template<class ActionT >
std::string getFullName ( ) const
inline

Definition at line 507 of file ros_action_node.hpp.

◆ getRosContext()

template<class ActionT >
const RosActionNode< ActionT >::Context & getRosContext ( )
inlineprotected

Definition at line 519 of file ros_action_node.hpp.

◆ getMutex()

template<class ActionT >
std::mutex & getMutex ( )
inlinestaticprotected

Definition at line 525 of file ros_action_node.hpp.

◆ getRegistry()

template<class ActionT >
RosActionNode< ActionT >::ClientsRegistry & getRegistry ( )
inlinestaticprotected

Definition at line 532 of file ros_action_node.hpp.

Member Data Documentation

◆ logger_

template<class ActionT >
const rclcpp::Logger logger_
protected

Definition at line 177 of file ros_action_node.hpp.

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