Class BTAction

Defined in File BTAction.hpp

Inheritance Relationships

Base Type

public plansys2::ActionExecutorClient

Class Documentation

class BTAction : public plansys2::ActionExecutorClient 

Public Functions

explicit BTAction(const std::string &action, const std::chrono::nanoseconds &rate)

inline const std::string &getActionName() const

inline const std::string &getBTFile() const

Protected Functions

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state)

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &previous_state)

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state)

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state)

void do_work()

Protected Attributes

BT::BehaviorTreeFactory factory_