Condition node that succeeds once the mode with the expected nav_state reports successful completion. More...

Inheritance diagram for CheckModeCompleted:

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Additional Inherited Members
Public Member Functions inherited from RosSubscriberNode< px4_msgs::msg::ModeCompleted >
	RosSubscriberNode (const std::string &instance_name, const Config &config, Context context, const rclcpp::QoS &qos={10})
	Constructor.

virtual BT::NodeStatus	onMessageReceived (const px4_msgs::msg::ModeCompleted &msg)
	Callback invoked when the node is ticked and a valid message has been received.

bool	createSubscriber (const std::string &topic_name)
	Create the ROS 2 subscriber.

std::string	getTopicName () const
	Get the name of the topic name this node subscribes to.

Static Public Member Functions inherited from RosSubscriberNode< px4_msgs::msg::ModeCompleted >
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	Derived nodes implementing the static method RosSubscriberNode::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.

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

Condition node that succeeds once the mode with the expected nav_state reports successful completion.

Subscribes to fmu/out/mode_completed (message version suffix resolved at runtime). PX4's auto modes (e.g. Takeoff, Land, RTL, Mission) publish a single ModeCompleted message when the maneuver finishes; this node returns SUCCESS on the tick that delivers a completion for the nav_state input port with result RESULT_SUCCESS, otherwise FAILURE.

Because mode_completed is published only once (not continuously like vehicle_status), wrap this node in an infinite RetryUntilSuccessful decorator: the subscription callback buffers the one-shot message and the retry loop catches it on the next tick. Unlike CheckNavState (which confirms a mode merely became active), this node waits for the mode to actually run to completion - use it to build the execution ("Do") behaviors such as DoTakeoff/DoLanding.

Note: A completion with a non-success result is treated as "not done yet" (FAILURE), so the retry loop keeps waiting.

Definition at line 42 of file check_mode_completed.cpp.

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

auto-apms-px4/auto_apms_px4/src/node/sub/check_mode_completed.cpp

Additional Inherited Members

Detailed Description