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Sync 6.5 to main (#37)
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‎src/example_behaviors/CMakeLists.txt‎

Lines changed: 12 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -20,19 +20,18 @@ find_package(moveit_pro_ml REQUIRED)
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add_library(
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example_behaviors
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SHARED
23-
src/add_two_ints_service_client.cpp
24-
src/convert_mtc_solution_to_joint_trajectory.cpp
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src/delayed_message.cpp
26-
src/fibonacci_action_client.cpp
27-
src/get_string_from_topic.cpp
28-
src/hello_world.cpp
29-
src/ndt_registration.cpp
30-
src/publish_color_rgba.cpp
31-
src/ransac_registration.cpp
32-
src/sam2_segmentation.cpp
33-
src/setup_mtc_pick_from_pose.cpp
34-
src/setup_mtc_place_from_pose.cpp
35-
src/setup_mtc_wave_hand.cpp
23+
src/example_add_two_ints_service_client.cpp
24+
src/example_convert_mtc_solution_to_joint_trajectory.cpp
25+
src/example_delayed_message.cpp
26+
src/example_get_string_from_topic.cpp
27+
src/example_fibonacci_action_client.cpp
28+
src/example_hello_world.cpp
29+
src/example_publish_color_rgba.cpp
30+
src/example_setup_mtc_pick_from_pose.cpp
31+
src/example_setup_mtc_place_from_pose.cpp
32+
src/example_setup_mtc_wave_hand.cpp
33+
src/example_ndt_registration.cpp
34+
src/example_ransac_registration.cpp
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src/register_behaviors.cpp)
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target_include_directories(
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example_behaviors

src/example_behaviors/include/example_behaviors/add_two_ints_service_client.hpp renamed to src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,10 @@ using AddTwoInts = example_interfaces::srv::AddTwoInts;
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namespace example_behaviors
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{
12-
class AddTwoIntsServiceClient final : public ServiceClientBehaviorBase<AddTwoInts>
12+
class ExampleAddTwoIntsServiceClient final : public ServiceClientBehaviorBase<AddTwoInts>
1313
{
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public:
15-
AddTwoIntsServiceClient(const std::string& name, const BT::NodeConfiguration& config,
15+
ExampleAddTwoIntsServiceClient(const std::string& name, const BT::NodeConfiguration& config,
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const std::shared_ptr<BehaviorContext>& shared_resources);
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/** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */

src/example_behaviors/include/example_behaviors/convert_mtc_solution_to_joint_trajectory.hpp renamed to src/example_behaviors/include/example_behaviors/example_convert_mtc_solution_to_joint_trajectory.hpp

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@@ -29,10 +29,10 @@ namespace example_behaviors
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* | sampling_rate | Input | int |
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* | joint_trajectory | Output | trajectory_msgs::msg::JointTrajectory |
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*/
32-
class ConvertMtcSolutionToJointTrajectory final : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
32+
class ExampleConvertMtcSolutionToJointTrajectory final : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
3333
{
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public:
35-
ConvertMtcSolutionToJointTrajectory(const std::string& name, const BT::NodeConfiguration& config,
35+
ExampleConvertMtcSolutionToJointTrajectory(const std::string& name, const BT::NodeConfiguration& config,
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const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
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static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/delayed_message.hpp renamed to src/example_behaviors/include/example_behaviors/example_delayed_message.hpp

Lines changed: 3 additions & 3 deletions
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@@ -12,9 +12,9 @@
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namespace example_behaviors
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{
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/**
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* @brief DelayedMessage will use FailureLoggerROS to log a "Hello World" message after the duration specified on the input port
15+
* @brief ExampleDelayedMessage will use FailureLoggerROS to log a "Hello World" message after the duration specified on the input port
1616
*/
17-
class DelayedMessage : public moveit_studio::behaviors::SharedResourcesNode<BT::StatefulActionNode>
17+
class ExampleDelayedMessage : public moveit_studio::behaviors::SharedResourcesNode<BT::StatefulActionNode>
1818
{
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private:
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std::chrono::time_point<std::chrono::steady_clock> start_time_;
@@ -33,7 +33,7 @@ class DelayedMessage : public moveit_studio::behaviors::SharedResourcesNode<BT::
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* @details An important limitation is that the members of the base Behavior class are not instantiated until after
3434
* the initialize() function is called, so these classes should not be used within the constructor.
3535
*/
36-
DelayedMessage(const std::string& name, const BT::NodeConfiguration& config,
36+
ExampleDelayedMessage(const std::string& name, const BT::NodeConfiguration& config,
3737
const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
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/**

src/example_behaviors/include/example_behaviors/fibonacci_action_client.hpp renamed to src/example_behaviors/include/example_behaviors/example_fibonacci_action_client.hpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,10 @@ using Fibonacci = example_interfaces::action::Fibonacci;
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1010
namespace example_behaviors
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{
12-
class FibonacciActionClient final : public ActionClientBehaviorBase<Fibonacci>
12+
class ExampleFibonacciActionClient final : public ActionClientBehaviorBase<Fibonacci>
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{
1414
public:
15-
FibonacciActionClient(const std::string& name, const BT::NodeConfiguration& config,
15+
ExampleFibonacciActionClient(const std::string& name, const BT::NodeConfiguration& config,
1616
const std::shared_ptr<BehaviorContext>& shared_resources);
1717

1818
/** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */

src/example_behaviors/include/example_behaviors/get_string_from_topic.hpp renamed to src/example_behaviors/include/example_behaviors/example_get_string_from_topic.hpp

Lines changed: 2 additions & 2 deletions
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@@ -8,10 +8,10 @@ using moveit_studio::behaviors::GetMessageFromTopicBehaviorBase;
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namespace example_behaviors
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{
11-
class GetStringFromTopic final : public GetMessageFromTopicBehaviorBase<std_msgs::msg::String>
11+
class ExampleGetStringFromTopic final : public GetMessageFromTopicBehaviorBase<std_msgs::msg::String>
1212
{
1313
public:
14-
GetStringFromTopic(const std::string& name, const BT::NodeConfiguration& config,
14+
ExampleGetStringFromTopic(const std::string& name, const BT::NodeConfiguration& config,
1515
const std::shared_ptr<BehaviorContext>& shared_resources);
1616

1717
/** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */

src/example_behaviors/include/example_behaviors/hello_world.hpp renamed to src/example_behaviors/include/example_behaviors/example_hello_world.hpp

Lines changed: 5 additions & 5 deletions
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@@ -8,9 +8,9 @@
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namespace example_behaviors
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{
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/**
11-
* @brief The HelloWorld Behavior uses FailureLoggerROS to log a "Hello World" message and will always return SUCCESS
11+
* @brief The ExampleHelloWorld Behavior uses FailureLoggerROS to log a "Hello World" message and will always return SUCCESS
1212
*/
13-
class HelloWorld : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
13+
class ExampleHelloWorld : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
1414
{
1515
public:
1616
/**
@@ -25,7 +25,7 @@ class HelloWorld : public moveit_studio::behaviors::SharedResourcesNode<BT::Sync
2525
* @details An important limitation is that the members of the base Behavior class are not instantiated until after
2626
* the initialize() function is called, so these classes should not be used within the constructor.
2727
*/
28-
HelloWorld(const std::string& name, const BT::NodeConfiguration& config,
28+
ExampleHelloWorld(const std::string& name, const BT::NodeConfiguration& config,
2929
const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
3030

3131
/**
@@ -46,9 +46,9 @@ class HelloWorld : public moveit_studio::behaviors::SharedResourcesNode<BT::Sync
4646
static BT::KeyValueVector metadata();
4747

4848
/**
49-
* @brief Implementation of BT::SyncActionNode::tick() for HelloWorld.
49+
* @brief Implementation of BT::SyncActionNode::tick() for ExampleHelloWorld.
5050
* @details This function is where the Behavior performs its work when the behavior tree is being run.
51-
* Since HelloWorld is derived from BT::SyncActionNode, it is very important that its tick() function always finishes
51+
* Since ExampleHelloWorld is derived from BT::SyncActionNode, it is very important that its tick() function always finishes
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* very quickly. If tick() blocks before returning, it will block execution of the entire behavior tree, which may
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* have undesirable consequences for other Behaviors that require a fast update rate to work correctly.
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* @return BT::NodeStatus::RUNNING, BT::NodeStatus::SUCCESS, or BT::NodeStatus::FAILURE depending on the result of the

src/example_behaviors/include/example_behaviors/ndt_registration.hpp renamed to src/example_behaviors/include/example_behaviors/example_ndt_registration.hpp

Lines changed: 2 additions & 2 deletions
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@@ -12,7 +12,7 @@ namespace example_behaviors
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/**
1313
* @brief TODO(...)
1414
*/
15-
class NDTRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
15+
class ExampleNDTRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
1616
{
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public:
1818
/**
@@ -22,7 +22,7 @@ class NDTRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
2222
* @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
2323
* @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
2424
*/
25-
NDTRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
25+
ExampleNDTRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
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2727
/**
2828
* @brief Implementation of the required providedPorts() function for the Behavior.

src/example_behaviors/include/example_behaviors/publish_color_rgba.hpp renamed to src/example_behaviors/include/example_behaviors/example_publish_color_rgba.hpp

Lines changed: 2 additions & 2 deletions
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@@ -12,10 +12,10 @@
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namespace example_behaviors
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{
15-
class PublishColorRGBA final : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
15+
class ExamplePublishColorRGBA final : public moveit_studio::behaviors::SharedResourcesNode<BT::SyncActionNode>
1616
{
1717
public:
18-
PublishColorRGBA(const std::string& name, const BT::NodeConfiguration& config,
18+
ExamplePublishColorRGBA(const std::string& name, const BT::NodeConfiguration& config,
1919
const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
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2121
static BT::PortsList providedPorts();

src/example_behaviors/include/example_behaviors/ransac_registration.hpp renamed to src/example_behaviors/include/example_behaviors/example_ransac_registration.hpp

Lines changed: 2 additions & 2 deletions
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@@ -12,7 +12,7 @@ namespace example_behaviors
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/**
1313
* @brief TODO(...)
1414
*/
15-
class RANSACRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
15+
class ExampleRANSACRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
1616
{
1717
public:
1818
/**
@@ -22,7 +22,7 @@ class RANSACRegistration : public moveit_studio::behaviors::AsyncBehaviorBase
2222
* @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
2323
* @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
2424
*/
25-
RANSACRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
25+
ExampleRANSACRegistration(const std::string& name, const BT::NodeConfiguration& config, const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
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2727
/**
2828
* @brief Implementation of the required providedPorts() function for the Behavior.

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