Template for ChangeState nodes. More...

Inheritance diagram for ChangeStateTemplate< TRANSITION_ID >:

Additional Inherited Members
Public Member Functions inherited from RosServiceNode< lifecycle_msgs::srv::ChangeState >
	RosServiceNode (const std::string &instance_name, const Config &config, Context context)
	Constructor.

virtual BT::NodeStatus	onResponseReceived (const typename Response::SharedPtr &response)
	Callback invoked after the service response was received.

virtual BT::NodeStatus	onFailure (ServiceNodeErrorCode error)
	Callback invoked when one of the errors in ServiceNodeErrorCode occur.

bool	createClient (const std::string &service_name)
	Create the client of the ROS 2 service.

std::string	getServiceName () const
	Get the name of the service this node connects with.

Static Public Member Functions inherited from RosServiceNode< lifecycle_msgs::srv::ChangeState >
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	ADerived nodes implementing the static method RosServiceNode::providedPorts may call this method to also include the default port for ROS 2 behavior tree nodes.

static BT::PortsList	providedPorts ()
	If a behavior tree requires input/output data ports, the developer must define this method accordingly.

Detailed Description

template<int TRANSITION_ID = -1>
class auto_apms_behavior_tree::ChangeStateTemplate< TRANSITION_ID >

Template for ChangeState nodes.

The targeted node's service name is constructed from the 'node' input port as '<node>/change_state'. When TRANSITION_ID < 0 (the generic case), the transition ID is read from the 'transition' input port at tick time, allowing full runtime configurability. For non-negative TRANSITION_ID values the transition is baked into the class at compile time and no 'transition' port is exposed — only 'node' is required.

Transition IDs are defined in lifecycle_msgs/msg/Transition: configure=1, cleanup=2, activate=3, deactivate=4, unconfigured_shutdown=5, inactive_shutdown=6, active_shutdown=7

Template Parameters

TRANSITION_ID Compile-time transition ID. Use -1 (default) for the generic version.

Definition at line 93 of file lifecycle_nodes.cpp.

The documentation for this class was generated from the following file:

auto_apms_behavior_tree/src/node/lifecycle_nodes.cpp

Additional Inherited Members

Detailed Description