Generic behavior tree node wrapper for a ROS 2 service client. More...

#include <auto_apms_behavior_tree_core/node/ros_service_node.hpp>

Public Member Functions
	RosServiceNode (const std::string &instance_name, const Config &config, Context context)
	Constructor.

virtual bool	setRequest (typename Request::SharedPtr &request)
	Set the request to be sent to the ROS 2 service.

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
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<class ServiceT>
class auto_apms_behavior_tree::core::RosServiceNode< ServiceT >

Generic behavior tree node wrapper for a ROS 2 service client.

When ticked, this node sends a service request and awaits the response asynchronously. Inheriting classes must reimplement the virtual methods as described below.

By default, the name of the service will be determined as follows:

If a value is passed using the input port named topic, use that.
Otherwise, use the value from NodeRegistrationOptions::topic passed on construction as part of RosNodeContext.

It is possible to customize which port is used to determine the service name and also extend the input's value with a prefix or suffix. This is achieved by including the special pattern (input:<port_name>) in NodeRegistrationOptions::topic and replacing <port_name> with the desired input port name.

Example: Given the user implements an input port BT::InputPort<std::string>("my_port"), one may create a client for the service "foo/bar" by defining NodeRegistrationOptions::topic as (input:my_port)/bar and providing the string "foo" to the port with name my_port.

Additionally, the following characteristics depend on NodeRegistrationOptions:

wait_timeout: Period [s] (measured since tree construction) after the service is considered unreachable.
request_timeout: Period [s] (measured since sending a goal request) after the node aborts waiting for a server response.
allow_unreachable: Flag whether to tolerate if the service is unreachable when trying to create the client. If set to true, a warning is logged. Otherwise, an exception is raised.
logger_level: Minimum severity level enabled for logging using the ROS 2 Logger API.

Template Parameters

ServiceT Type of the ROS 2 service.

Definition at line 92 of file ros_service_node.hpp.

Constructor & Destructor Documentation

◆ RosServiceNode()

template<class ServiceT>

RosServiceNode	(	const std::string &	instance_name,
		const Config &	config,
		Context	context )

inlineexplicit

Constructor.

Derived nodes are automatically created by TreeBuilder::instantiate when included inside a node manifest associated with the behavior tree resource.

Parameters

instance_name	Name given to this specific node instance.
config	Structure of internal data determined at runtime by BT::BehaviorTreeFactory.
context	Additional parameters specific to ROS 2 determined at runtime by TreeBuilder.

Definition at line 229 of file ros_service_node.hpp.

Member Function Documentation

◆ providedBasicPorts()

template<class ServiceT>

static BT::PortsList providedBasicPorts ( BT::PortsList addition )

inlinestatic

ADerived nodes implementing the static method RosServiceNode::providedPorts may call this method to also include the default port for ROS 2 behavior tree nodes.

Parameters

addition Additional ports to add to the ports list.

Returns: List of ports containing the default port along with node-specific ports.

Definition at line 135 of file ros_service_node.hpp.

◆ providedPorts()

template<class ServiceT>

static BT::PortsList providedPorts ( )

inlinestatic

If a behavior tree requires input/output data ports, the developer must define this method accordingly.

Returns: List of ports used by this node.

Definition at line 146 of file ros_service_node.hpp.

◆ setRequest()

template<class ServiceT>

bool setRequest ( typename Request::SharedPtr & request )

inlinevirtual

Set the request to be sent to the ROS 2 service.

The node may deny to query a service call by returning false. Otherwise, this method should return true.

By default, this callback returns true.

Parameters

request Request message.

Returns: false if the request should not be sent. In that case, onFailure(INVALID_REQUEST) will be called.

Definition at line 359 of file ros_service_node.hpp.

◆ onResponseReceived()

template<class ServiceT>

BT::NodeStatus onResponseReceived ( const typename Response::SharedPtr & response )

inlinevirtual

Callback invoked after the service response was received.

Based on the response, the node may return BT::NodeStatus::SUCCESS or BT::NodeStatus::FAILURE.

By default, this callback always returns BT::NodeStatus::SUCCESS.

Parameters

response Response message.

Returns: Final return status of the node.

Definition at line 365 of file ros_service_node.hpp.

◆ onFailure()

template<class ServiceT>

BT::NodeStatus onFailure ( ServiceNodeErrorCode error )

inlinevirtual

Callback invoked when one of the errors in ServiceNodeErrorCode occur.

Based on the error code, the node may return BT::NodeStatus::SUCCESS or BT::NodeStatus::FAILURE.

By default, this callback throws auto_apms_behavior_tree::exceptions::RosNodeError and interrupts the tree.

Parameters

error Code for the error that has occurred.

Returns: Final return status of the node.

Definition at line 371 of file ros_service_node.hpp.

◆ createClient()

template<class ServiceT>

bool createClient ( const std::string & service_name )

inline

Create the client of the ROS 2 service.

Parameters

service_name Name of the service.

Returns: true if the client was created successfully, false otherwise.

Definition at line 380 of file ros_service_node.hpp.

◆ getServiceName()

template<class ServiceT>

std::string getServiceName ( ) const

inline

Get the name of the service this node connects with.

Returns: String representing the service name.

Definition at line 440 of file ros_service_node.hpp.

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

auto_apms_behavior_tree_core/include/auto_apms_behavior_tree_core/node/ros_service_node.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RosServiceNode()

Member Function Documentation

◆ providedBasicPorts()

◆ providedPorts()

◆ setRequest()

◆ onResponseReceived()

◆ onFailure()

◆ createClient()

◆ getServiceName()