Namespaces
	filesystem_utils

Classes
class	ActionClientBehaviorBase
	A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled. More...

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

struct	BehaviorContext
	The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode. More...

class	ClockInterfaceBase
	A base class which provides an interface for retrieving timepoints from a monotonic clock. More...

class	SteadyClockInterface
	Implementation of ClockInterfaceBase for std::chrono::steady_clock. More...

class	ForEach
	A class template for creating a behavior tree decorator node to help iterate through a vector of items. More...

class	GetMessageFromTopicBehaviorBase
	Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port. More...

class	LoadMultipleFromYaml
	Loads types from a YAML file, and returns them as a vector in an output port. More...

class	LoadFromYaml
	Loads a type from a YAML file, and returns it in an output port. More...

class	SaveToYaml
	Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the `~/.config/moveit_studio/robot_config/objectives` folder. More...

class	ServiceClientBehaviorBase
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...

class	SharedResourcesNode
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

class	SharedResourcesNodeLoaderBase
	The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode. More...

Functions
template<typename... Args>
std::optional< std::string >	maybe_error (BT::Expected< Args >... args)
	Check if any of the provided inputs represent error states and, if so, return their error messages. More...

template<typename E , typename... Args>
constexpr std::optional< E >	maybe_error (tl::expected< Args, E >... args)
	Tests if any of the expected args passed in has an error. More...

template<typename T >
BT::NodeBuilder	getDefaultNodeBuilder ()
	Helper function to create a BT::NodeBuilder for a behavior tree node with the default constructor signature. More...

template<typename T >
BT::NodeBuilder	getSharedResourcesNodeBuilder (const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Helper function to create a BT::NodeBuilder for a behavior tree node which takes shared_ptr<BehaviorContext> as an additional constructor parameter. More...

template<typename T >
void	registerBehavior (BT::BehaviorTreeFactory &factory, const std::string &name)
	Helper function to register a behavior with the default constructor signature with a BT::BehaviorTreeFactory. More...

template<typename T >
void	registerBehavior (BT::BehaviorTreeFactory &factory, const std::string &name, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Helper function to register a behavior derived from SharedResourcesNode with a BT::BehaviorTreeFactory. More...

template<class T >
void	parseROSMessage (const YAML::Node &node, const InterfaceTypeName &interface_type, T &rhs)
	Templated function to parse any ROS message from a YAML Node. More...

template<typename T >
void	saveROSMessage (YAML::Node &node, const InterfaceTypeName &interface_type, T msg)
	Templated function to save any ROS message to a YAML Node. More...

template<typename T >
tl::expected< T, std::string >	parseParameter (const YAML::Node &yaml, const std::string &parameter_name)
	Helper function for parsing a parameter from a YAML::Node. More...

Function Documentation

◆ getDefaultNodeBuilder()

template<typename T >

BT::NodeBuilder moveit_studio::behaviors::getDefaultNodeBuilder ( )

inline

Helper function to create a BT::NodeBuilder for a behavior tree node with the default constructor signature.

Template Parameters

T	Create a builder for this type of node. Must be derived from BT::TreeNode.

Returns: A BT::NodeBuilder that creates a node of type T.

◆ getSharedResourcesNodeBuilder()

template<typename T >

BT::NodeBuilder moveit_studio::behaviors::getSharedResourcesNodeBuilder ( const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > & shared_resources )

inline

Helper function to create a BT::NodeBuilder for a behavior tree node which takes shared_ptr<BehaviorContext> as an additional constructor parameter.

Parameters

shared_resources A shared_ptr to an instance of BehaviorContext, which will be provided when creating the behaviors registered by this function.

Template Parameters

T	Create a builder for this type of node. Must be derived from moveit_studio::behaviors::SharedResourcesNode.

Returns: A BT::NodeBuilder that creates a node of type T.

◆ maybe_error() [1/2]

template<typename... Args>

std::optional<std::string> moveit_studio::behaviors::maybe_error ( BT::Expected< Args >... args )

inline

Check if any of the provided inputs represent error states and, if so, return their error messages.

This was inspired by fp's maybe_error function: https://github.com/tylerjw/fp/blob/b4bf17c2f7a99c07b6ab9b8706357572e960d638/include/fp/result.hpp#L216-L236

Parameters

args	One or more BT::Expecteds (i.e., results from getInput)

Returns: std::optional wrapping std::string. If all of the inputs in args have values, returns std::nullopt. If one or more of the inputs in args contains an error state instead of a value, return a string that contains the concatenated error messages of all inputs that did not contain a value.

◆ maybe_error() [2/2]

template<typename E , typename... Args>

constexpr std::optional<E> moveit_studio::behaviors::maybe_error ( tl::expected< Args, E >... args )

constexpr

Tests if any of the expected args passed in has an error.

This was adapted from fp's maybe_error function with a small modification.

Parameters

[in] The tl::expected<T, E> variables. All have to use the same error type.

Template Parameters

E	The error type
Args	The value types for the tl::expected<T, E> args

Returns: The first error found or nothing

◆ parseParameter()

template<typename T >

tl::expected<T, std::string> moveit_studio::behaviors::parseParameter	(	const YAML::Node &	yaml,
		const std::string &	parameter_name
	)

Helper function for parsing a parameter from a YAML::Node.

Template Parameters

T	Type of the parameter.

Parameters

yaml	Parsed YAML file for an objective containing the parameters for every parameterized behavior in the objective.
parameter_name	Parameter name within the YAML file.

Returns: Parsed parameter if parsing it succeeded and it has a valid value. Error otherwise.

◆ parseROSMessage()

template<class T >

void moveit_studio::behaviors::parseROSMessage	(	const YAML::Node &	node,
		const InterfaceTypeName &	interface_type,
		T &	rhs
	)

Templated function to parse any ROS message from a YAML Node.

Template Parameters

the	ROS message type to load.

This uses the dynamic_message_introspection package to parse any given ROS message from a YAML file. Throws an exception if the message can't be parsed, e.g. if the YAML contains fields not corresponding to the given message type. Example of use: geometry_msgs::msg::Pose pose; parseROSMessage(yaml_node, InterfaceTypeName{"geometry_msgs", "Pose"}, pose);

◆ registerBehavior() [1/2]

template<typename T >

void moveit_studio::behaviors::registerBehavior	(	BT::BehaviorTreeFactory &	factory,
		const std::string &	name
	)

inline

Helper function to register a behavior with the default constructor signature with a BT::BehaviorTreeFactory.

Parameters

factory	Register behaviors with this factory.
name	The name to use when registering this type of behavior. It is good practice to make this name match the name of the class (e.g., moveit_studio::behaviors::PlanMTCTask is registered as "PlanMTCTask").

Template Parameters

T	Register a behavior of this type.

◆ registerBehavior() [2/2]

template<typename T >

void moveit_studio::behaviors::registerBehavior	(	BT::BehaviorTreeFactory &	factory,
		const std::string &	name,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources
	)

inline

Helper function to register a behavior derived from SharedResourcesNode with a BT::BehaviorTreeFactory.

Parameters

factory	Register behaviors with this factory.
name	The name to use when registering this type of behavior. It is good practice to make this name match the name of the class (e.g., moveit_studio::behaviors::PlanMTCTask is registered as "PlanMTCTask").
shared_resources	A shared_ptr to an instance of BehaviorContext, which will be provided when creating the behaviors registered by this function.

Template Parameters

T	Register a behavior of this type.

◆ saveROSMessage()

template<typename T >

void moveit_studio::behaviors::saveROSMessage	(	YAML::Node &	node,
		const InterfaceTypeName &	interface_type,
		T	msg
	)

Templated function to save any ROS message to a YAML Node.

Template Parameters

the	ROS message type to save.

This uses the dynamic_message_introspection package to serialize any given ROS message to a YAML file. Throws an exception if the message can't be saved, e.g. if the ROS message contains fields not corresponding to the given message type. Example of use: geometry_msgs::msg::Pose pose; saveROSMessage(pose, InterfaceTypeName{"geometry_msgs", "Pose"}, yaml_node);

Namespaces

Classes

Functions

Function Documentation

◆ getDefaultNodeBuilder()

◆ getSharedResourcesNodeBuilder()

◆ maybe_error() [1/2]

◆ maybe_error() [2/2]

◆ parseParameter()

◆ parseROSMessage()

◆ registerBehavior() [1/2]

◆ registerBehavior() [2/2]

◆ saveROSMessage()