Class DockRobotAction

Inheritance Relationships

Base Type

  • public nav2_behavior_tree::BtActionNode< nav2_msgs::action::DockRobot >

Class Documentation

class DockRobotAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::DockRobot>

nav2_behavior_tree::BtActionNode class that wraps opnav2_msgsennav_docking_msgs/DockRobot

Public Functions

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

A constructor for opennav_docking_bt::DockRobotAction.

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

void on_tick() override

Function to perform some user-defined operation on tick.

BT::NodeStatus on_success() override

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

BT::NodeStatus on_aborted() override

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

BT::NodeStatus on_cancelled() override

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

void halt() override

Override required by the a BT action. Cancel the action and set the path output.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

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