Template Class BtActionNode

Defined in File BTActionNode.hpp

Inheritance Relationships

Base Type

public BT::ActionNodeBase

Class Documentation

template<class ActionT, class NodeT = rclcpp::Node> class BtActionNode : public BT::ActionNodeBase

Public Functions

inline BtActionNode(const std::string &xml_tag_name, const std::string &action_name, const BT::NodeConfiguration &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 bool 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}

rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr goal_handle_

rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult result_

NodeT::SharedPtr node_

std::chrono::milliseconds server_timeout_