Class SpinAction

Inheritance Relationships

Base Type

Class Documentation

class SpinAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::action::Spin>

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

Note

This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.

Public Functions

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

A constructor for nav2_behavior_tree::SpinAction.

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 void on_timeout() override

Function to perform work in a BT Node when the action server times out Such as setting the error code ID status to timed out for action clients.

void initialize()

Function to read parameters and initialize class variables.

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.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

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