RosServiceNode< ServiceT > Class Template Reference

#include <auto_apms_behavior_tree/node/ros_service_node.hpp>

Inheritance diagram for RosServiceNode< ServiceT >:

Public Types
using	ServiceType = ServiceT
using	Request = typename ServiceT::Request
using	Response = typename ServiceT::Response
using	Config = BT::NodeConfig
using	Context = RosNodeContext

Public Member Functions
	RosServiceNode (const std::string &instance_name, const Config &config, const Context &context)
virtual	~RosServiceNode ()=default
BT::NodeStatus	tick () override
void	halt () override
virtual bool	setRequest (typename Request::SharedPtr &request)
virtual BT::NodeStatus	onResponseReceived (const typename Response::SharedPtr &response)
virtual BT::NodeStatus	onFailure (ServiceNodeErrorCode error)
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 ()
void	setServiceName (const std::string &service_name)

Static Protected Member Functions
static std::mutex &	getMutex ()
static ClientsRegistry &	getRegistry ()

Protected Attributes
const rclcpp::Logger	logger_

Detailed Description

template<class ServiceT>
class auto_apms_behavior_tree::RosServiceNode< ServiceT >

Abstract class use to wrap rclcpp::Client<>

For instance, given the type AddTwoInts described in this tutorial: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html

the corresponding wrapper would be:

class AddTwoNumbers: public RosServiceNode<example_interfaces::srv::AddTwoInts>

RosServiceNode 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 service will be determined as follows:

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

Definition at line 72 of file ros_service_node.hpp.

Member Typedef Documentation

ServiceType

template<class ServiceT >

using ServiceType = ServiceT

Definition at line 89 of file ros_service_node.hpp.

Request

template<class ServiceT >

using Request = typename ServiceT::Request

Definition at line 90 of file ros_service_node.hpp.

Response

template<class ServiceT >

using Response = typename ServiceT::Response

Definition at line 91 of file ros_service_node.hpp.

Config

template<class ServiceT >

using Config = BT::NodeConfig

Definition at line 92 of file ros_service_node.hpp.

Context

template<class ServiceT >

using Context = RosNodeContext

Definition at line 93 of file ros_service_node.hpp.

Constructor & Destructor Documentation

RosServiceNode()

template<class ServiceT >

RosServiceNode ( const std::string & instance_name, const Config & config, const Context & context )

inlineexplicit

Definition at line 191 of file ros_service_node.hpp.

~RosServiceNode()

template<class ServiceT >

virtual ~RosServiceNode ( )

virtualdefault

Member Function Documentation

providedBasicPorts()

template<class ServiceT >

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

inlinestatic

Any subclass of RosServiceNode that has ports must implement 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 106 of file ros_service_node.hpp.

providedPorts()

template<class ServiceT >

static BT::PortsList providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 117 of file ros_service_node.hpp.

tick()

template<class ServiceT >

BT::NodeStatus tick ( )

inlineoverride

Definition at line 260 of file ros_service_node.hpp.

halt()

template<class ServiceT >

void halt ( )

inlineoverride

The default halt() implementation.

Definition at line 365 of file ros_service_node.hpp.

setRequest()

template<class ServiceT >

bool setRequest ( typename Request::SharedPtr & request )

inlinevirtual

setRequest is a callback that allows the user to set the request message (ServiceT::Request).

Parameters

request

the request to be sent to the service provider.

Returns

false if the request should not be sent. In that case, RosServiceNode::onFailure(INVALID_REQUEST) will be called.

Definition at line 374 of file ros_service_node.hpp.

onResponseReceived()

template<class ServiceT >

BT::NodeStatus onResponseReceived ( const typename Response::SharedPtr & response )

inlinevirtual

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

Definition at line 380 of file ros_service_node.hpp.

onFailure()

template<class ServiceT >

BT::NodeStatus onFailure ( ServiceNodeErrorCode error )

inlinevirtual

Callback invoked when something goes wrong; you can override it. It must return either SUCCESS or FAILURE.

Definition at line 386 of file ros_service_node.hpp.

getFullName()

template<class ServiceT >

std::string getFullName ( ) const

inline

Definition at line 393 of file ros_service_node.hpp.

getRosContext()

template<class ServiceT >

const RosServiceNode< ServiceT >::Context & getRosContext ( )

inlineprotected

Definition at line 405 of file ros_service_node.hpp.

getMutex()

template<class ServiceT >

std::mutex & getMutex ( )

inlinestaticprotected

Definition at line 411 of file ros_service_node.hpp.

setServiceName()

template<class ServiceT >

void setServiceName ( const std::string & service_name )

inlineprotected

Definition at line 418 of file ros_service_node.hpp.

getRegistry()

template<class ServiceT >

RosServiceNode< ServiceT >::ClientsRegistry & getRegistry ( )

inlinestaticprotected

Definition at line 425 of file ros_service_node.hpp.

Member Data Documentation

logger_

template<class ServiceT >

const rclcpp::Logger logger_

protected

Definition at line 160 of file ros_service_node.hpp.

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

• auto_apms_behavior_tree/include/auto_apms_behavior_tree/node/ros_service_node.hpp