RunningCapability< ActionT > Class Template Reference

The one concrete RunningCapabilityBase implementation, parameterized by the actual action type a given capability type is run with. More...

#include <running_capability.hpp>

Inheritance diagram for RunningCapability< ActionT >:

Public Types
using	Client = easyfleet_core::CapabilityClient<ActionT>
	The CapabilityClient<ActionT> specialization this instance wraps.

Public Member Functions
	RunningCapability (rclcpp::Node &node, const std::string &action_name, std::string robot_name, std::string capability_type, easyfleet_mission_manager::StatusMarkerPublisher &status)
void	run (const typename ActionT::Goal &goal, std::chrono::seconds timeout)
	Sends goal and starts tracking it.
void	stop () override
	Asks the in-flight goal, if any, to stop.
easyfleet::CapabilityState	state () const override
void	check_timeout () override
	Called periodically (from FleetSession::spin_some()) so a timeout passed to run() actually gets enforced without blocking the caller.

Detailed Description

template<typename ActionT>
class easyfleet_mission_manager::detail::RunningCapability< ActionT >

The one concrete RunningCapabilityBase implementation, parameterized by the actual action type a given capability type is run with.

Constructor & Destructor Documentation

RunningCapability()

template<typename ActionT>

RunningCapability ( rclcpp::Node & node, const std::string & action_name, std::string robot_name, std::string capability_type, easyfleet_mission_manager::StatusMarkerPublisher & status )

inline

Parameters

node	Node the underlying CapabilityClient is created on.
action_name	Resolved action name to call (e.g. "/robot_1/navigation").
robot_name	Robot identity the status marker is shown above.
capability_type	Capability type, for status/log lines (e.g. "navigation").
status	Status marker publisher run() publishes through.

Member Function Documentation

check_timeout()

template<typename ActionT>

void check_timeout ( )

inlineoverridevirtual

Called periodically (from FleetSession::spin_some()) so a timeout passed to run() actually gets enforced without blocking the caller.

Implements RunningCapabilityBase.

run()

template<typename ActionT>

void run ( const typename ActionT::Goal & goal, std::chrono::seconds timeout )

inline

Sends goal and starts tracking it.

Parameters

goal	Goal to send, fully typed – built by hand or via one of mission_helpers.hpp's make_*_goal() convenience overloads.
timeout	Stop the goal if it hasn't finished on its own within this long, enforced by check_timeout().

state()

template<typename ActionT>

easyfleet::CapabilityState state ( ) const

inlineoverridevirtual

Returns

Current state, per the last run()/its outcome.

Implements RunningCapabilityBase.

stop()

template<typename ActionT>

void stop ( )

inlineoverridevirtual

Asks the in-flight goal, if any, to stop.

Implements RunningCapabilityBase.

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

• easyfleet_mission_manager/include/easyfleet_mission_manager/detail/running_capability.hpp