snp_application::GetCurrentJointStateNode Class Reference

Subscribes to a sensor_msgs/JointState topic to extract the current joint state of the robot.

Inheritance diagram for snp_application::GetCurrentJointStateNode:

Public Member Functions
BT::NodeStatus	onTick (const typename sensor_msgs::msg::JointState::SharedPtr &last_msg) override

Static Public Member Functions
static BT::PortsList	providedPorts ()

Static Public Attributes
static const std::string	JOINT_STATE_OUTPUT_PORT_KEY = "current_state"