The ParallelNode executes all its children concurrently, but not in separate threads!
Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.
The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports).
-If any of the threaholds are reached, and other children are still running, they will be halted.
+If any of the thresholds are reached, and other children are still running, they will be halted.
-If the 2nd or 3d child is RUNNING and the statement changes, the RUNNING child will be stopped before starting the sibling.
Executes its child node only if the string value of a given input port is equal to the expected value.
-If this precondition is met, the child node will be run and this node will return the status returned from the child.
+Executes its child node only if a condition is met.
+If the precondition is met, the child node will be run and this node will return the status returned from the child.
If the precondition is not met, this node will return the BT::NodeStatus value specified in "return_on_mismatch".
Tick the child once and return SUCCESS if the child failed or FAILURE if the child succeeded.
@@ -157,6 +156,14 @@Introduced in BT.CPP 4 to integrate scripting language within XML
+Allows users to read from and write to variables in the blackboard
+Can perform operation like assignment, comparison, etc.
+- Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this task), and sets it as an output data port. + Provides functions for realtime tracking of AprilTag in published image topics. +
++ Parameters for tag detector are ingested parsed YAML configuration. Raw images are processed from the specified camera stream topic, + and detections are published as a vector of TransformStamped to the specified output topic. +
++ NOTE: This behavior will never terminate on its own. You must wrap it in a sequence that will handle halting the node.
+ Activates a controller whose name is given by the "controller_name" input port. +
++ Subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective. +
++ Check if an input object is similar to another object. Succeeds if the objects are similar within the provided criteria and fails if they are not similar. +
++ Uses the "/edit_waypoints service" to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase". +
++ Given a collection of CollisionObjects, find the one closest to the provided pose. +
++ Analyze a point cloud to find well-singulated cuboids which supported by a surface. +
++ Calculates the pose, length, and width of a door handle. By convention, the z-axis of "target_handle_pose" is aligned with the handle's axis of rotation, and the x-axis points along the handle toward the door hinge. +
++ Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior. +
++ Captures a point cloud and makes it available on an output port. +
++ Optionally takes a string uuid which can be used to identify the requester, and makes it available on an output port. The parameter is "optional", if it unset then no output will be forwarded. Note: no validation is done on the value of the UUID, so any string is provided (including the empty string) it will be set on the output port. +
++ Saves a single image to a file as soon as it receives a message on the topic. Filename will follow the syntax of IMAGE_TOPIC_image_raw_YYYYMMDD_HHMMSS.png +
++ Save the contents of a point cloud on the blackboard to a pcd file using the pcl::PointXYZRGB point type. Filename will follow the syntax of pointcloud_YYYYMMDD_HHMMSS.pcd +
++ Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this task), and sets it as an output data port. +
++ Check if the robot's current state satisfies a kinematic visibility constraint. +
++ Checks for the presence of a user interface by checking if the "/trajectory_bridge" ROS node exists. +
+
@@ -95,6 +254,16 @@
+ Add a collision object to the planning scene. +
++ Publishes a point cloud on a ROS topic (typically used for debugging purposes). +
++ Removes all objects which were added to the planning scene during runtime. +
++ Use the "/get_planning_scene" service to save the robot's current state. +
++ Given a point cloud, filter it using MoveIt's settings for that sensor, convert it to ASCII PCD format, and publish it on a topic. +
++ The UUID parameter can be used to track the pointcloud request through to other behaviors, if required. It is an optional input port, and if unset then the published message will have an empty string in its UUID field. Note: no validation is done on the value of the UUID, so any string that is provided (including the empty string) will be set on the output port. +
++ Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state. +
++ Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach, grasp and lift the object. +
++ Add an MTC Stage to an MTC Task that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages. +
++ Updates parameters for an existing admittance controller. +
++ DEPRECATED: Use UpdatePlanningSceneService and SendPointCloudToUI instead. +
++ Given a point cloud from the specified sensor, will sanitize the point cloud according to that sensor's params and publish the result to the relevant topic to update the occupancy map. It will also convert the resulting pointcloud to ASCII PCD format and publish it to the specified pcd_topic. +
++ The UUID parameter can be used to track the pointcloud request through to other behaviors, if required. It is an optional input port, and if it unset then the published message will have an empty string in its UUID field. Note: no validation is done on the value of the UUID, so any string is provided (including the empty string) it will be set on the output port. +
++ Updates the planning scene's collision octree using the provided point cloud, and waits until the octree has finished updating. +
+
@@ -305,7 +586,7 @@
- Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on MTC's "/solution" introspection topic. Creates a SetBool service server on the "/execute_behavior_solution" topic and waits to receive a request containing data: true before succeeding.
+ Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on the "/preview_solution" topic. Creates a SetBool service server on the "/execute_behavior_solution" topic and waits to receive a request containing data: true before succeeding.