RosNodeContext Class Reference

Additional parameters specific to ROS 2 determined at runtime by TreeBuilder. More...

#include <auto_apms_behavior_tree_core/node/ros_node_context.hpp>

Public Member Functions
	RosNodeContext (rclcpp::Node::SharedPtr ros_node, rclcpp::CallbackGroup::SharedPtr tree_node_waitables_callback_group, rclcpp::executors::SingleThreadedExecutor::SharedPtr tree_node_waitables_executor, const NodeRegistrationOptions &options)
	Constructor.
std::string	getROSNodeName () const
	Get the name of the ROS 2 node passed to the constructor.
std::string	getFullyQualifiedRosNodeName () const
	Get the fully qualified name of the ROS 2 node passed to the constructor.
rclcpp::Logger	getBaseLogger () const
	Get the logger of the associated ROS 2 node.
rclcpp::Logger	getChildLogger (const std::string &name)
	Get a child logger created using the associated ROS 2 node.
rclcpp::Time	getCurrentTime () const
	Get the current time using the associated ROS 2 node.
std::string	getFullyQualifiedTreeNodeName (const BT::TreeNode *node, bool with_class_name=true) const
	Create a string representing the detailed name of a behavior tree node.
YAML::Node	getExtraOptions () const
	Get the extra YAML options provided during node registration.
rclcpp::Node::SharedPtr	getRosNode () const
	Get the associated ROS 2 node handle.
rclcpp::CallbackGroup::SharedPtr	getWaitablesCallbackGroup () const
	Get the callback group to use when adding ROS 2 waitables (subscriptions, clients, ...) from a tree node.
rclcpp::executors::SingleThreadedExecutor::SharedPtr	getWaitablesExecutor () const
	Get the executor used for spinning the tree node's waitables.
BT::Expected< std::string >	getTopicName (const BT::TreeNode *node) const
	Resolve the ROS 2 topic name from the node's registration options (node manifest 'topic' feature), applying any (input:port) substitutions.
const NodeRegistrationOptions &	getRegistrationOptions () const
	Get the node registration options.

Detailed Description

Additional parameters specific to ROS 2 determined at runtime by TreeBuilder.

Definition at line 30 of file ros_node_context.hpp.

Constructor & Destructor Documentation

RosNodeContext()

RosNodeContext	(	rclcpp::Node::SharedPtr	ros_node,
		rclcpp::CallbackGroup::SharedPtr	tree_node_waitables_callback_group,
		rclcpp::executors::SingleThreadedExecutor::SharedPtr	tree_node_waitables_executor,
		const NodeRegistrationOptions &	options )

Constructor.

Parameters

[in]	ros_node	ROS 2 node instance used for adding waitables with.
[in]	tree_node_waitables_callback_group	Callback group to be used within tree nodes when adding waitables.
[in]	tree_node_waitables_executor	Executor used for executing work provided by the node's waitables.
[in]	options	Configuration options for registering the behavior tree node.

Definition at line 25 of file ros_node_context.cpp.

Member Function Documentation

getROSNodeName()

std::string getROSNodeName

(

)

const

Get the name of the ROS 2 node passed to the constructor.

Returns

Name of the associated ROS 2 node.

Definition at line 39 of file ros_node_context.cpp.

getFullyQualifiedRosNodeName()

std::string getFullyQualifiedRosNodeName

(

)

const

Get the fully qualified name of the ROS 2 node passed to the constructor.

Returns

Fully qualified name of the associated ROS 2 node.

Definition at line 41 of file ros_node_context.cpp.

getBaseLogger()

rclcpp::Logger getBaseLogger

(

)

const

Get the logger of the associated ROS 2 node.

Returns

Logger instance.

Definition at line 43 of file ros_node_context.cpp.

getChildLogger()

rclcpp::Logger getChildLogger

(

const std::string &

name

)

Get a child logger created using the associated ROS 2 node.

Parameters

name	Name of the new logger.

Returns

Logger instance.

Definition at line 45 of file ros_node_context.cpp.

getCurrentTime()

rclcpp::Time getCurrentTime

(

)

const

Get the current time using the associated ROS 2 node.

Returns

Current time.

Definition at line 60 of file ros_node_context.cpp.

getFullyQualifiedTreeNodeName()

std::string getFullyQualifiedTreeNodeName	(	const BT::TreeNode *	node,
		bool	with_class_name = true ) const

Create a string representing the detailed name of a behavior tree node.

Parameters

node	Pointer to the behavior tree node instance.
with_class_name	Whether to include the name of the behavior tree node class.

Returns

Fully qualified name of node.

Definition at line 68 of file ros_node_context.cpp.

getExtraOptions()

YAML::Node getExtraOptions

(

)

const

Get the extra YAML options provided during node registration.

Returns

YAML node with extra options.

Definition at line 83 of file ros_node_context.cpp.

getRosNode()

rclcpp::Node::SharedPtr getRosNode

(

)

const

Get the associated ROS 2 node handle.

Allows custom tree nodes (e.g. a StatefulActionNode that must both publish and subscribe) to create their own ROS 2 entities. Prefer the dedicated node base classes (RosPublisherNode, ...) where they suffice.

Returns

Shared pointer to the ROS 2 node.

Exceptions

auto_apms_behavior_tree::core::exceptions::RosNodeError

if the node handle has expired.

Definition at line 85 of file ros_node_context.cpp.

getWaitablesCallbackGroup()

rclcpp::CallbackGroup::SharedPtr getWaitablesCallbackGroup

(

)

const

Get the callback group to use when adding ROS 2 waitables (subscriptions, clients, ...) from a tree node.

Returns

Shared pointer to the callback group, or nullptr if it has expired (add to the node's default group then).

Definition at line 96 of file ros_node_context.cpp.

getWaitablesExecutor()

rclcpp::executors::SingleThreadedExecutor::SharedPtr getWaitablesExecutor

(

)

const

Get the executor used for spinning the tree node's waitables.

Returns

Shared pointer to the executor, or nullptr if it has expired.

Definition at line 98 of file ros_node_context.cpp.

getTopicName()

BT::Expected< std::string > getTopicName

(

const BT::TreeNode *

node

)

const

Resolve the ROS 2 topic name from the node's registration options (node manifest 'topic' feature), applying any (input:port) substitutions.

Exposed so custom tree nodes that are not derived from the provided node base classes can still honor a manifest-configured topic exactly like RosPublisherNode/RosSubscriberNode do.

Parameters

node	Pointer to the behavior tree node instance.

Returns

The resolved topic name, or an error if the 'topic' option is empty or a referenced input port is unset.

Definition at line 105 of file ros_node_context.cpp.

getRegistrationOptions()

const NodeRegistrationOptions & getRegistrationOptions

(

)

const

Get the node registration options.

Returns

Const reference to the registration options.

Definition at line 103 of file ros_node_context.cpp.

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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/ros_node_context.hpp
• auto_apms_behavior_tree_core/src/node/ros_node_context.cpp