Class ExecutorNode

Defined in File ExecutorNode.hpp

Inheritance Relationships

Base Type

public rclcpp_lifecycle::LifecycleNode

Class Documentation

class ExecutorNode : public rclcpp_lifecycle::LifecycleNode

Public Types

using ExecutePlan = plansys2_msgs::action::ExecutePlan

using GoalHandleExecutePlan = rclcpp_action::ServerGoalHandle<ExecutePlan>

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Functions

ExecutorNode()

CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)

CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)

CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)

CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)

CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)

CallbackReturnT on_error(const rclcpp_lifecycle::State &state)

void get_ordered_sub_goals_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetOrderedSubGoals::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetOrderedSubGoals::Response> response)

void get_plan_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response)

void get_remaining_plan_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response)

Protected Functions

void get_ordered_subgoals(PlanRuntineInfo &runtime_info)

std::vector<plansys2_msgs::msg::ActionExecutionInfo> get_feedback_info(std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map)

void print_execution_info(std::shared_ptr<std::map<std::string, ActionExecutionInfo>> exec_info)

rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const ExecutePlan::Goal> goal)

rclcpp_action::CancelResponse handle_cancel(const std::shared_ptr<GoalHandleExecutePlan> goal_handle)

void handle_accepted(const std::shared_ptr<GoalHandleExecutePlan> goal_handle)

void purge_handlers_list()

void execution_cycle()

void update_plan(PlanRuntineInfo &runtime_info)

bool init_plan_for_execution(PlanRuntineInfo &runtime_info)

bool replan_for_execution(PlanRuntineInfo &runtime_info)

void execute_plan()

bool get_tree_from_plan(PlanRuntineInfo &runtime_info)

void create_plan_runtime_info(PlanRuntineInfo &runtime_info)

void cancel_all_running_actions(PlanRuntineInfo &runtime_info)

Protected Attributes

bool cancel_plan_requested_

bool replan_requested_

std::string action_bt_xml_

std::string start_action_bt_xml_

std::string end_action_bt_xml_

pluginlib::ClassLoader<plansys2::BTBuilder> bt_builder_loader_

std::shared_ptr<plansys2::DomainExpertClient> domain_client_

std::shared_ptr<plansys2::ProblemExpertClient> problem_client_

std::shared_ptr<plansys2::PlannerClient> planner_client_

rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::ActionExecutionInfo>::SharedPtr execution_info_pub_

rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::Plan>::SharedPtr executing_plan_pub_

rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::Plan>::SharedPtr remaining_plan_pub_

rclcpp_action::Server<ExecutePlan>::SharedPtr execute_plan_action_server_

rclcpp::Service<plansys2_msgs::srv::GetOrderedSubGoals>::SharedPtr get_ordered_sub_goals_service_

rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::String>::SharedPtr dotgraph_pub_

rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr get_plan_service_

rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr get_remaining_plan_service_

std::list<std::shared_ptr<GoalHandleExecutePlan>> goal_handlers_

rclcpp::TimerBase::SharedPtr execution_timer_

bool new_plan_received_ = {false}

bool cancel_requested_ = {false}

std::shared_ptr<GoalHandleExecutePlan> current_goal_handle_

std::shared_ptr<GoalHandleExecutePlan> new_goal_handle_

std::shared_ptr<GoalHandleExecutePlan> cancel_goal_handle_

int executor_state_

PlanRuntineInfo runtime_info_

Protected Static Attributes

static const int STATE_IDLE = 0

static const int STATE_EXECUTING = 1

static const int STATE_REPLANNING = 2

static const int STATE_ABORTING = 3

static const int STATE_CANCELLED = 4

static const int STATE_FAILED = 5

static const int STATE_SUCCEDED = 6

static const int STATE_ERROR = 7