Class DriveOnHeadingAction

• Defined in File drive_on_heading_action.hpp

Inheritance Relationships

Base Type

• public nav2_behavior_tree::BtActionNode< nav2_msgs::action::DriveOnHeading > (Template Class BtActionNode)

Class Documentation

class DriveOnHeadingAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::DriveOnHeading>

A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::DriveOnHeading.

Public Functions

DriveOnHeadingAction(const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::DriveOnHeadingAction.

Parameters:

• xml_tag_name – Name for the XML tag for this node

• action_name – Action name this node creates a client for

• conf – BT node configuration

virtual BT::NodeStatus on_success() override

Function to perform some user-defined operation upon successful completion of the action.

virtual BT::NodeStatus on_aborted() override

Function to perform some user-defined operation upon abortion of the action.

virtual BT::NodeStatus on_cancelled() override

Function to perform some user-defined operation upon cancellation of the action.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

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