Template Class BtActionNode

Inheritance Relationships

Base Type

  • public BT::ActionNodeBase

Class Documentation

template<class ActionT>
class BtActionNode : public BT::ActionNodeBase

Public Functions

inline BtActionNode(const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfig &conf)
BtActionNode() = delete
inline virtual ~BtActionNode()
inline bool createActionClient(const std::string &action_name)
inline virtual BT::NodeStatus on_tick()
inline virtual void on_feedback(const std::shared_ptr<const typename ActionT::Feedback> feedback)
inline virtual BT::NodeStatus on_success()
inline virtual BT::NodeStatus on_aborted()
inline virtual BT::NodeStatus on_cancelled()
inline BT::NodeStatus tick() override
inline void halt() override

Public Static Functions

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

Protected Functions

inline void cancel_goal()
inline bool should_cancel_goal()
inline void on_new_goal_received()
inline void increment_recovery_count()

Protected Attributes

std::string action_name_
std::shared_ptr<rclcpp_action::Client<ActionT>> action_client_
ActionT::Goal goal_
bool goal_updated_ = {false}
bool goal_result_available_ = {false}
std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr> future_goal_handle_
std::shared_future<typename ActionT::Impl::CancelGoalService::Response::SharedPtr> future_cancer_handle_
rclcpp::Time goal_sent_ts_
rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr goal_handle_
rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult result_
rclcpp_lifecycle::LifecycleNode::SharedPtr node_
std::chrono::milliseconds server_timeout_
int state_ = {IDLE}

Protected Static Attributes

static const int IDLE = 0
static const int GOAL_SENT = 1
static const int GOAL_EXECUTING = 2
static const int GOAL_FINISHING = 3
static const int GOAL_CANCELLING = 4
static const int GOAL_FINISHED = 5
static const int GOAL_FAILURE = 6