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5 #include <behaviortree_cpp_v3/behavior_tree.h>
6 #include <behaviortree_cpp_v3/tree_node.h>
7 #include <behaviortree_cpp_v3/basic_types.h>
8 #include <behaviortree_cpp_v3/leaf_node.h>
9 #include <moveit/move_group_interface/move_group_interface.h>
10 #include <moveit_msgs/ApplyPlanningScene.h>
11 #include <moveit/robot_model_loader/robot_model_loader.h>
12 #include <moveit/planning_scene/planning_scene.h>
13 #include <moveit/kinematic_constraints/utils.h>
14 #include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
25 moveit_task_constructor_msgs::ExecuteTaskSolutionGoal
ets_;
27 std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>*
executions_;
28 std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator
it_;
38 Execution(
const std::string& name,
const BT::NodeConfiguration& config);
52 BT::NodeStatus
onStart()
override;
std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_
next iteration of ExecuteTaskSolutionGoal
static BT::PortsList providedPorts()
Required port interface.
Execution(const std::string &name, const BT::NodeConfiguration &config)
constructor
Execution node as StatefulActionNode.
void onHalted() override
Function called on halt.
BT::NodeStatus onRunning() override
Function called while node is in running state.
BT::NodeStatus onStart() override
Function called at first execution.
Abstract Robot Decorator.
void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)
Initialize Node.
AbstractRobotDecorator * mr_reference_
Reference to the robot.
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_
ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.
std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_
trajetory and planningscene mapped to robot