RosConditionNode Class Reference

ROS-aware wrapper for the basic BT::ConditionNode. More...

#include <auto_apms_behavior_tree_core/node/base/ros_condition_node.hpp>

Inheritance diagram for RosConditionNode:

Additional Inherited Members
Protected Member Functions inherited from RosNodeBase
void	applyPortAliasing (const BT::TreeNode *node) const
	Support the node manifest 'port_alias' feature: copy the aliased port values onto the original ports the node implementation reads.
template<typename InstanceT>
std::shared_ptr< InstanceT >	getSharedEntity (const std::string &entity_name, const std::function< std::shared_ptr< InstanceT >()> &factory)
	Retrieve a process-wide shared ROS 2 entity, creating it via factory on first use.

Detailed Description

ROS-aware wrapper for the basic BT::ConditionNode.

Adds the RosNodeContext, a per-instance logger and node-manifest support to the plain condition node. Derive from it for a synchronous condition that needs access to the ROS 2 node (via RosNodeContext::getRosNode()) but doesn't fit one of the dedicated communication bases (e.g. RosSubscriberNode for topic-based conditions).

Implement tick() (returning SUCCESS/FAILURE) as usual for a BT::ConditionNode.

Definition at line 35 of file ros_condition_node.hpp.

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

• auto_apms_behavior_tree_core/include/auto_apms_behavior_tree_core/node/base/ros_condition_node.hpp
• auto_apms_behavior_tree_core/src/node/base/ros_condition_node.cpp