BT::Groot2Publisher Class Reference

The Groot2Publisher is used to create an interface between your BT.CPP executor and Groot2. More...

#include <groot2_publisher.h>

Inheritance diagram for BT::Groot2Publisher:

Collaboration diagram for BT::Groot2Publisher:

Public Member Functions
	Groot2Publisher (const BT::Tree &tree, unsigned server_port=1667)
	Groot2Publisher (const Groot2Publisher &other)=delete
Groot2Publisher &	operator= (const Groot2Publisher &other)=delete
	Groot2Publisher (Groot2Publisher &&other)=delete
Groot2Publisher &	operator= (Groot2Publisher &&other)=delete
void	setMaxHeartbeatDelay (std::chrono::milliseconds delay)
	setMaxHeartbeatDelay is used to tell the publisher when a connection with Groot2 should be cancelled, if no heartbeat is received.
std::chrono::milliseconds	maxHeartbeatDelay () const
Public Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger (TreeNode *root_node)
	Construct and immediately subscribe to status changes.
	StatusChangeLogger (const StatusChangeLogger &other)=delete
StatusChangeLogger &	operator= (const StatusChangeLogger &other)=delete
	StatusChangeLogger (StatusChangeLogger &&other)=delete
StatusChangeLogger &	operator= (StatusChangeLogger &&other)=delete
virtual void	callback (BT::Duration timestamp, const TreeNode &node, NodeStatus prev_status, NodeStatus status)=0
virtual void	flush ()=0
void	setEnabled (bool enabled)
void	setTimestampType (TimestampType type)
bool	enabled () const
bool	showsTransitionToIdle () const
void	enableTransitionToIdle (bool enable)

Additional Inherited Members
Protected Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger ()=default
	Default constructor for deferred subscription. Call subscribeToTreeChanges() when ready.
void	subscribeToTreeChanges (TreeNode *root_node)
	Subscribe to status changes. Call at end of constructor for deferred subscription.

Detailed Description

The Groot2Publisher is used to create an interface between your BT.CPP executor and Groot2.

An inter-process communication mechanism allows the two processes to communicate through a TCP port. The user should provide the port to be used in the constructor.

Member Function Documentation

setMaxHeartbeatDelay()

void BT::Groot2Publisher::setMaxHeartbeatDelay

(

std::chrono::milliseconds

delay

)

setMaxHeartbeatDelay is used to tell the publisher when a connection with Groot2 should be cancelled, if no heartbeat is received.

Default is 5000 ms

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

• include/behaviortree_cpp/loggers/groot2_publisher.h