Class ExecutorClient

• Defined in File ExecutorClient.hpp

Class Documentation

class ExecutorClient

Client interface for the plansys2 executor node.

This class provides a client interface to interact with the ExecutorNode, allowing applications to request plan execution, monitor progress, cancel plans, and retrieve execution information.

Public Types

using ExecutePlan = plansys2_msgs::action::ExecutePlan

using GoalHandleExecutePlan = rclcpp_action::ClientGoalHandle<ExecutePlan>

Public Functions

ExecutorClient()

Default constructor.

explicit ExecutorClient(const std::string &node_name)

Constructor with custom node name.

Creates a ROS node with the specified name and initializes service clients and action clients to communicate with the executor node.

Parameters:

node_name – [in] Name for the ROS node.

bool start_plan_execution(const plansys2_msgs::msg::Plan &plan)

Start the execution of a plan.

Parameters:

plan – [in] The plan to be executed.

Returns:

true if the plan was successfully sent and accepted, false otherwise.

bool execute_and_check_plan()

Execute the current plan and check its status.

Returns:

true if plan execution is still in progress, false if plan has finished (either successfully, cancelled, or failed).

void cancel_plan_execution()

Cancel the execution of the current plan.

std::vector<plansys2_msgs::msg::Tree> getOrderedSubGoals()

Get the ordered sub-goals of the current plan.

Retrieves the ordered sub-goals derived from the current plan being executed. These represent intermediate goals to be achieved during plan execution.

Returns:

std::vector<plansys2_msgs::msg::Tree> Vector of tree structures representing the ordered sub-goals.

std::optional<plansys2_msgs::msg::Plan> get_plan()

Get the complete plan being executed.

Returns:

std::optional<plansys2_msgs::msg::Plan> The complete plan if available, empty if no plan is currently being executed or if an error occurred.

std::optional<plansys2_msgs::msg::Plan> get_remaining_plan()

Get the remaining portion of the plan to be executed.

Returns:

std::optional<plansys2_msgs::msg::Plan> The remaining plan if available, empty if no remaining plan is available or if an error occurred.

inline ExecutePlan::Feedback getFeedBack()

Get the current feedback from plan execution.

Returns:

ExecutePlan::Feedback The current feedback message from the executor.

std::optional<ExecutePlan::Result> getResult()

Get the final result of plan execution.

Returns:

std::optional<ExecutePlan::Result> The result of the plan execution if available, empty if no result is available or if an error occurred.