Retrieves the current lifecycle state of a ROS 2 managed node. More...

Inheritance diagram for LifecycleGetState:

Additional Inherited Members
Public Member Functions inherited from RosServiceNode< lifecycle_msgs::srv::GetState >
	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::GetState >
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

Retrieves the current lifecycle state of a ROS 2 managed node.

The targeted node's service name is constructed from the 'node' input port as '<node>/get_state'. The numeric state ID and its human-readable label are written to the respective output ports.

State IDs are defined in lifecycle_msgs/msg/State: UNKNOWN=0, UNCONFIGURED=1, INACTIVE=2, ACTIVE=3, FINALIZED=4

Definition at line 39 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