Class ComputeAndTrackRouteAction

Inheritance Relationships

Base Type

Class Documentation

class ComputeAndTrackRouteAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::ComputeAndTrackRoute>

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

Public Functions

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

A constructor for nav2_behavior_tree::ComputeAndTrackRouteAction.

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 void on_tick() override

Function to perform some user-defined operation on tick.

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.

void on_wait_for_result(std::shared_ptr<const Action::Feedback> feedback) override

Function to perform some user-defined operation after a timeout waiting for a result that hasn’t been received yet.

Parameters:

feedback – shared_ptr to latest feedback message

void resetFeedbackAndOutputPorts()

Function to set all feedbacks and output ports to be null values.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

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

Protected Attributes

Action::Feedback feedback_