Classes
The classes, structs, union and interfaces used by this project are:
| C ActionChunkProducerInterface | Runs one inference of a policy that produces trajectory chunks |
| C AddOverageToPath | Adds overage waypoints to both ends of a path by extending along a specified local axis |
| C AddPointCloudToVector | Appends a point cloud to a vector of point clouds |
| C Admittance | |
| S AdmittanceControllerParams | Struct representing admittance controller parameters |
| S AdmittanceKinematics | |
| S AdmittanceParameters | |
| S AdmittanceState | |
| S ArmGripperChunk | |
| S AttachOrDetachStageRequest | Parameters describing the attach or detach action for appendAttachOrDetachStage |
| C AvoidPointsInCoveragePath | Modifies a coverage path to route around obstacle points using semicircular detours |
| S BehaviorContext | The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode |
| C BiasedCoinFlip | Simulates flipping a biased coin with the specified probability of success provided via the input port |
| C BlockUntilParameterIsTrue | Block (return RUNNING) until a blackboard entry evaluates as true, then return SUCCESS |
| C BoundedRetentionQueue | Bounds how many recently-retained objects keep their heavyweight data alive |
| S CartesianLimits | Cartesian velocity and acceleration limits for the trapezoidal profile |
| C ClientInterfaceBase | Provides an interface to an action client that can handle a single goal at a time |
| C RclcppClientInterface | Implements ClientInterfaceBase for the rclcpp action client |
| C ClientInterfaceBase<ServiceT> | Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads |
| C RclcppClientInterface<ServiceT> | Implements ClientInterfaceBase for the rclcpp service client |
| C ClockInterfaceBase | A base class which provides an interface for retrieving timepoints from a monotonic clock |
| C SteadyClockInterface | Implementation of ClockInterfaceBase for std::chrono::steady_clock |
| S CollisionCheckOptions | Contains options for path collision checking |
| S CombinedImageResult | Result of building the combined inference image (target alone, or target+exemplar side-by-side) |
| S Constraints | Definition of kinematic constraints to take into account during planning |
| C ControllerWithRobotModel | |
| C JointTrajectoryAdmittanceController | |
| C JointVelocityController | |
| C VelocityForceController | |
| S convert<AdmittanceControllerParams> | Utility to decode YAML node as an AdmittanceControllerParams struct |
| C ConvertTransformStampedToPoseStamped | Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message |
| S CoveragePathParams | Parameters that shape the raster produced by generateRasterPath() |
| S Deps | |
| S Entry | |
| S ErrorType | |
| S ExemplarInfo | Exemplar-specific metadata captured before resize; present only when an exemplar was provided |
| S FactorizationCache | |
| S FilterEntry | An installed filter paired with the unique id used to remove exactly that filter on token destruction |
| S FilterStack | Independently-owned state backing the filter stack |
| S FilterToken | Ownership token returned by pushFilter. Its destructor removes the associated filter (if the backing stack still exists), giving callers RAII scoping without exposing a raw void * deleter and without tying the token's safety to the logger's lifetime |
| C FindSlicePlanesAlongEdge | Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints |
| C ForEach | A class for creating a behavior tree decorator node to iterate through a vector of items |
| C GeneratePoses | |
| C GetCentroidFromPointCloud | Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud |
| S GoalTolerance | Tolerances that the final path waypoint (the goal) must satisfy |
| S GripperPlan | |
| C GripperStreamer | |
| S InferenceHandle | Interface for SAM2 automasking inference |
| S SAM2AutomaskHandle | Default implementation using the pooled SAM2Automask facade |
| S InferenceHandle | Interface for SAM3 segmentation inference |
| S SAM3DetectHandle | Default implementation using SAM3Detect |
| S InferenceHandle | Interface for SAM2 point-prompted segmentation inference |
| S SAM2SegmentHandle | Default implementation using SAM2Segment over the shared model pool |
| S InfoAndWarnings | |
| C IOController | |
| C IsAnyObjectAttached | This Behavior checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, FAILURE otherwise |
| C IsCollisionObjectInPlanningScene | Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise |
| C IsObjectAttachedTo | |
| S JacobianColumn | |
| S JogInputs | |
| S JointRangeConstraint | |
| S JointRangeEntry | One row of the joint_range_constraint BT input port (per-joint tightening of URDF limits) |
| S JointTrajectoryAdmittanceControllerCommand<...> | |
| S JointVelocityParameters | |
| C JointVelocitySetpointGenerator | |
| S LatchedModel | The bundle and runtime this instance latched onto at its first successful load |
| C LatencyWindow | Seam-lead estimate over the last kLatencyWindowSize inference round trips: their max, floored |
| C LoggerBase | Base class to allow Behaviors to report messages with detailed explanations to MoveIt Studio UI |
| C LoggerROS | A ROS-specialized implementation of LoggerBase that publishes the error message on a topic and logs it through an rclcpp Logger |
| C MessageError | |
| S NonFiniteValue | |
| S ObjectWithDistance | Associates a GraspableObject with a distance metric |
| C ObservationSourceInterface | Supplies the current observation for one policy inference |
| S OriginalFunctions | |
| C ParameterOverrideRegistry | Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry |
| C PartialPathError | |
| S PathCollisionInfo | Struct to hold information about path collisions |
| S PathIKOptions | Options passed to the Path Inverse Kinematics solver |
| C PersistentPublisherCache | Topic-keyed cache of publishers whose latched samples must outlive the Behavior instance that created them |
| C Pin | RAII in-use marker for a retained entry; the entry cannot be released while any of its Pins is alive |
| S PlanarRotationConstraint | |
| S PlanningError | Definition of planning error return type with a string and optional collision results |
| C PlanningErrorException | |
| C PlanningTestFixture | |
| S PolicyObservation | The current observation a policy conditions on for one inference |
| C PoseIKPlugin | PickNik's implementation of a kinematics solver using MoveIt native types |
| S PoseTarget | |
| S PostProcessResult | Outputs produced by post-processing SAM3 masks |
| C PublisherInterfaceBase<MessageT> | Defines an interface to a publisher that sends a message to a topic |
| C RclcppPublisherInterface<MessageT> | Implementation of the publisher interface for a rclcpp publisher |
| C PushToSolutionQueue | Push a new MTC solution to the solution queue |
| C RealtimeTriggerServiceMonitor | |
| S ReceivedCommand | |
| C RepeatUnlessFailureEachTick | Decorator that ticks its child up to num_cycles times, advancing one iteration per parent tick |
| C RepeatUnlessFailureWithinTick | Decorator that ticks its child up to num_cycles times within a single parent tick, stopping on first failure |
| S ResampledTrajectory | Resampled trajectory data at uniform control rate |
| C ResetVector<InputT> | Create an empty vector and set it to the blackboard |
| S Resolution | |
| S ResolvedPolicyChunk | |
| C RobotTestFixture<Controller> | |
| C RobotTestFixtureInvalidParams<Base> | |
| C ROSPublisherHandle | |
| S RRTParams | Configuration parameters for the RRT planner |
| S RtcCarryover | |
| S RunResult | |
| S Sam2AutomaskModelPorts | |
| S Sam3ModelPorts | |
| S ScenarioInput | |
| S ScenarioOutput | Outcome of a single planTrajectoryToJointGoal(...) call as captured for scenario logging |
| S SceneAndState | |
| S SdfControlPoint | A single collision proxy that the SDF nullspace task should push away from obstacles |
| S SdfRepulsionParameters | Tunables for the SDF repulsion nullspace task |
| C SecondOrderButterworthFilter | |
| C SetupMTCFixedJointState | Given an existing MTC Task object, appends an MTC FixedState Stage to the Task |
| C SetupMTCFromSolution | Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution |
| C SharedResourcesNode<BehaviorTreeNodeT> | The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node |
| C AddToVector<InputT> | Template for a behavior that pushes an object into a vector and sets the updated vector to the blackboard |
| C AsyncBehaviorBase | A base class for behaviors which need to asynchronously run a function that might take a long time to complete |
| C ActionClientBehaviorBase<ActionT> | A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled |
| C ComputePathToPoseAction | Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Jazzy) returns a nav_msgs/Path path and builtin_interfaces/Duration planning_time |
| C DoTeleoperateAction | Starts teleoperation by sending a goal to the teleoperation action server in the web UI |
| C FollowPathAction | Calls an action server that uses nav2_msgs::action::FollowPath and outputs feedback. The ROS 2 Jazzy action result contains std_msgs::Empty, error_code, and error_msg; this Behavior does not expose it |
| C MoveGripperAction | Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripper to the specified position |
| C NavigateThroughPosesAction | Calls an action server that uses nav2_msgs::action::NavigateThroughPoses and outputs feedback The ROS 2 Jazzy action result contains error_code and error_msg; this Behavior does not expose it |
| C NavigateToPoseAction | Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The ROS 2 Jazzy action result contains error_code and error_msg; this Behavior does not expose it |
| C AddCollisionObjectBase | Abstract base for Behaviors that add a CollisionObject to the planning scene |
| C AddCollisionBox | Adds a box-shaped CollisionObject to the planning scene |
| C AddCollisionCylinder | Adds a cylinder-shaped CollisionObject to the planning scene |
| C AddCollisionMesh | Adds a mesh CollisionObject to the planning scene |
| C AddCollisionObject | Adds a user-supplied CollisionObject to the planning scene |
| C AddCollisionSphere | Adds a sphere-shaped CollisionObject to the planning scene |
| C AdjustPoseWithIMarker | Requests a user to manually adjust a collection of poses using interactive markers in the UI |
| C AttachObject | Attaches a collision object that is already in the planning scene to a robot link |
| C BreakpointSubscriber | A behavior that 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 |
| C CheckCuboidSimilarity | Check if two GraspableObjects are similar within some tolerance |
| C ComputeInverseKinematics | A Behavior to compute the inverse kinematics for a given set of target poses |
| C ComputeSignedDistanceField | A Behavior to compute a propagation (signed) distance field from a planning scene |
| C CreateCollisionSpheresAtClosestPoints | This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message |
| C CropOrRemovePointsInBox<mode> | Behavior for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined relative to its centroid |
| C CropPointsInSphere | Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid |
| C CropPosesInBox | Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid |
| C DetachObject | Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose |
| C DetectAprilTags | Detects AprilTag markers from an image |
| C DetectCharucoBoard | Detects the interior corners of a ChArUco board in an image and estimates the board pose |
| C ExecuteMTCSolution | Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of execution_pipeline. After each subtrajectory succeeds, apply the corresponding planning scene diff so that scene updates from the MTC task persist |
| C ExecutePolicy | Executes a policy as continuous, collision-checked motion on the arm and optional gripper |
| C ExecuteTrajectory | Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to either a standard FollowJointTrajectory action server (JTC) or a Joint Trajectory Admittance Controller (JTAC) action server, depending on the value of the execution_pipeline input port |
| C FindMaskedObjects | Finds objects by segmenting a point cloud using a set of 2D mask images |
| C FitLineSegmentToMask3D | Finds the line segment that best fits a point cloud fragment |
| C GetContourFromPointCloudSlice | Extracts contours from a point cloud slice |
| C GetConvexHullPointCloud | Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes |
| C GetGraspableObjectsFromMasks3D | Finds objects in point cloud segments represented by 3D masks |
| S GetMasks2DAutomask | Segment an image using SAM2 automasking with grid-based point generation |
| S GetMasks2DFromExemplar | Segment an image using SAM3 with multimodal prompts |
| S GetMasks2DFromPointQuery | Segment an image using the SAM2 model and point prompts |
| C GetMasks3DFromMasks2D | Backprojects a number of image masks onto a point cloud with a camera model |
| C GetMeshNormalPoses | Gets the normal vectors for a given mesh and returns the normal vector poses to the caller |
| C GetMessageFromTopicBehaviorBase<MessageT> | Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port |
| C GetCameraInfo | Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting information is available on the "message_out" output port |
| C GetImage | Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port |
| C GetPointCloud | Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port |
| C GetOrientedBoundingBoxFromPointCloud | Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs that as a center pose and box dimensions. The OBB orientation is disambiguated by choosing the orientation closest to the reference_pose |
| C GetPointCloudFromMask3D | Gets the fragment of a point cloud for a 3D mask |
| C GetPoints2DFromGeminiQuery | Queries Google Gemini with a text prompt and a ROS image to locate 2D points in the image |
| C GetPointsFromUser | Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI |
| C GetPoseFromPixelCoords | Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates |
| C GetPoseFromUser | Sends a prompt request to the UI so that the user can click in the UI and return a pose |
| C GetRegionFromUser | Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI |
| C GetTextFromUser | Gets text from user by sending a list of prompts with default values for each prompt |
| C LoadImageFromFile | Loads an image from a file and writes it to an output data port |
| C LoadPointCloudFromFile | Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port |
| C MergePointClouds | Merges a number of input point clouds into a single one |
| C MoveCollisionObject | Updates the reference pose of an existing CollisionObject in the planning scene |
| C MPCBehaviorBase | All non-template implementation for the templated MPCBehaviorBase class |
| C MPCBehaviorBase<IMPL> | A base class for behaviors to help set up and execute MPC |
| C MPCPointCloudClearance | Avoid a point cloud using MPC |
| C MPCPoseTracking | Track a moving pose using MPC |
| C MPCSphereClearance | Avoid collision object spheres using MPC |
| C PlanMTCTask | Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as an output data port. A service client sends over all the solutions to the MTC Solution Manager node which can be used for debugging |
| C RecordJointTrajectory | Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message |
| C RegisterPointClouds | Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud |
| C RemoveCollisionObject | Removes a collision object from a planning scene by id |
| C SaveImageToFile | Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png |
| C SaveMTCTaskInspection | Walks an MTC Task and saves all introspection data (stage tree, statistics, every solution and failure, interface states, per-stage failure explanations) to a JSON file on disk |
| C SavePointCloudToFile | Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd |
| C SendPointCloudToUI | Transform a point cloud to the "world" frame and publish it as PCD to a topic the UI visualizes |
| C ServiceClientBehaviorBase<ServiceT> | A base class for behaviors which need to send a request to a ROS service client and wait for a result |
| C AddURDF | This Behavior sends a request to add a URDF object to the planning scene as a collision object |
| C AttachURDF | This Behavior sends a request to attach a URDF object to a robot for motion planning purposes |
| C CallTriggerService | Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter |
| C ClearSnapshot | Sends a request to clear the existing Octomap and Pointcloud snapshots |
| C ConvertDataset | Start an MCAP-to-LeRobot conversion of a recorded dataset via the train server node |
| C CreateRobotState | Create a moveit_msgs::msg::RobotState and write it to the Blackboard |
| C DetachOrRemoveURDF | Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene |
| C DetachURDF | This Behavior detaches a URDF object from the robot |
| C RemoveURDFFromScene | This Behavior removes a URDF object from the planning scene |
| C EditWaypoint | Use 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". If set to "save", then the "joint_group_names" parameter must also be set to specify which joint groups to include in the saved waypoint |
| C GetCurrentPlanningScene | Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request |
| C ListControllers | Lists controllers from the controller manager with two independent filters |
| C PlanCartesianPath | Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path |
| C PlanToJointGoal | Given a joint-space goal, plan a joint-space trajectory to reach the goal |
| C RecordEpisode | Start a Trainer recording session for demonstration collection via the train server node |
| C ResetMujocoKeyframe | Resets the MuJoCo simulation to a specified keyframe |
| C ResetPlanningSceneObjects | Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, including objects that are attached to the robot |
| C RetrievePoseParameter | Retrieves a stamped pose from the MoveIt Pro parameter manager node |
| C RetrieveRobotStateParameter | Retrieves a joint state from the MoveIt Pro parameter manager node |
| C SaveEpisode | End the current episode of the active Trainer recording and snapshot it to the dataset |
| C SetMujocoState | Sets MuJoCo simulation state to specified joint positions |
| C SetRos2Parameter | Set any ROS2 parameter on any node at runtime via the standard set_parameters service |
| C SolveIKQueries | |
| C StopRecording | Stop the active Trainer recording session and register the saved episodes as a dataset |
| C SwitchController | A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers |
| C UpdatePlanningSceneService | Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied |
| C SetCollisionRule | Allows or forbids collisions between two entities in the planning scene's Allowed Collision Matrix, without an MTC task |
| C TransformPointCloud | Transforms a point cloud given an input pose in the same frame as the point cloud |
| C TransformPointCloudFrame | Transforms a point cloud to a target coordinate frame |
| C ValidateTrajectory | Checks if a joint trajectory is valid, given a PlanningScene |
| C WaitForUserPathApproval | Sends a prompt request to the UI to accept or reject a visualized nav_msgs::msg::Path |
| C AveragePoseStamped | This Behavior calculates the running average of incoming Pose Stamped ROS messages |
| C AveragePoseStampedVector | Returns the average PoseStamped from a vector of PoseStamped |
| C BlendJointTrajectories | Blend a sequence of joint trajectories into a single trajectory with smooth transitions |
| C CalculatePoseOffset | Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose |
| C CalibrateCameraPose | Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector |
| C ClearAllVisualMarkers | Deletes all visual markers currently displayed in the UI |
| C ComputeLinkPoseForwardKinematics | This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states |
| C ComputeVelocityToAlignWithTarget | calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller |
| C ConvertMtcSolutionToJointTrajectory | Converts a MoveIt Task Constructor Solution into a JointTrajectory |
| C CreateBoundingBox2D | Construct a BoundingBox2D message from individual coordinate and size ports |
| C CreateBoundingBoxes2D | Convert a flat vector of doubles into a vector of BoundingBox2D messages |
| C CreateBoundingBoxFromOffset | Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions |
| C CreateGraspableObject | |
| C CreatePoseStamped | Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard |
| C CreateStationaryTrajectory | This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message |
| C CreateTransform | Create a geometry_msgs::msg::Transform and write it to the Blackboard |
| C CreateTwistStamped | Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard |
| C CreateWrenchStamped | Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard |
| C DilateMask2D | Apply morphological dilation to a vector of 2D masks |
| C ErodeMask2D | Apply morphological erosion to a vector of 2D masks |
| C ExtractGraspableObjectPose | Changes an input GraspableObject into a PoseStamped by getting its pose and its ID |
| C FilterMasks2DByArea | Filter 2D masks based on mask area only |
| C FilterMasks2DByBoundingBox | Filter 2D masks based on bounding box dimensions only |
| C FindSingularCuboids | Finds well-singulated cuboids supported by a surface within a point cloud |
| C ForceExceedsThreshold | Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings |
| C ForEachUntilSuccess | A decorator node that iterates through a vector of items, stopping on first successful child node tick |
| C GenerateCoveragePath | Creates a lawnmower path (a.k.a. boustrophedon path) for a robot end-effector to follow, to cover a given area |
| C GenerateCuboidGraspPoses | Given a target GraspableObject and planning details about the arm, generate grasp poses |
| C GeneratePointToPointTrajectory | Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state |
| C GenerateSurfaceCoveragePath | Generates a coverage (raster) path of tool poses over a rectangular region |
| C GenerateVacuumGraspPoses | Given a target GraspableObject and planning details about the arm, generate grasp poses |
| C GetCenterFromMask2D | Given a mask, compute the centroid and write the point to the blackboard |
| C GetCenterMostAprilTag | Gets the stamped pose of the AprilTag detection closest to the center of the camera image |
| C GetClosestObjectToPose | Given a collection of GraspableObjects, find the one that's closest to the provided pose |
| C GetDetectionPose | Gets the stamped pose of an object detection given a label or ID, if one exists |
| C GetElementOfVector | Get the element of a vector at the given index |
| C GetFilePathsFromDirectory | Get all filenames in a given directory (optionally with a specific file extension) |
| C GetJointState | This behavior extracts joint state data from a planning scene object |
| C GetLatestTransform | Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior |
| C GetMask2DFromRegion | Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume |
| C GetMask2DProperties | Extract bounding box dimensions and area from a single Mask2D message |
| C GetOdom | Subscribes to an odometry message and stores it on the blackboard |
| C GetRobotStateFromTrajectory | Get the JointState of a JointTrajectory at a specified time |
| C GetSizeOfVector | Get the size of a vector |
| C GetSyncedImageAndPointCloud | Get data from time-synchronized image and point cloud topics and populate them in output ports |
| C GetSyncedImages | Get data from time-synchronized image topics and populate them in output ports |
| C GetWaypointNames | Retrieves the names of all waypoints whose name starts with a given prefix, sorted lexicographically |
| C InitializeMTCTask | Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the overall Task timeout and introspection behavior), and sets it as an output data port |
| C InsertInVector | Insert an element into a vector at the given index |
| C IsPoseNearIdentity | Returns SUCCESS if the pose is within the position and rotation tolerances of the identity pose. Useful for evaluating an error pose |
| C IsUserAvailable | Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists |
| C IsVisibilityConstraintSatisfied | Check if the robot's current state satisfies a visibility kinematic constraint relative to an object |
| C JointJog | A Behavior to forward JointJog commands to a Joint Velocity Controller |
| C LoadFromYaml<T> | Loads a type from a YAML file, and returns it in an output port |
| C LoadMultipleFromYaml<T> | Loads types from a YAML file, and returns them as a vector in an output port |
| C LogMessage | Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level |
| C OverridePoseOrientation | Replaces the orientation of a PoseStamped with a fixed quaternion |
| C PoseJog | A Behavior to protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC) |
| C PublishBoundingBoxes2D | Publishes a bounding box visualization to a topic |
| C PublishMarkers | Publishes a set of markers to the UI for visualization |
| C PublishMask2D | Publishes a masks visualization to topic |
| C PublishPointCloud | Publish a point cloud |
| C PublishTF | Publishes a dynamic transform on /tf at a configured rate |
| C PublishStaticFrame | Deprecated alias for PublishTF |
| C PublishVelocityForceCommand | Publishes a velocity force command to the velocity force controller at a fixed rate |
| C PushBackVector | Append an element to the back of a vector |
| C ReadTextFileAsString | Read the contents of a text file and output the contents as a std::string |
| C RecordCalibrationSample | Appends one hand-eye calibration sample to a samples vector on the blackboard |
| C RemoveFromVector | Remove an element from a vector at the given index |
| C ReplaceInVector | Replace an element in a vector at the given index |
| C RetrieveWaypoint | Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint |
| C ReverseVector<InputT> | Reverses the order of elements in a vector and sets the reversed vector to the blackboard |
| C RotateTwistToFrame | Rotates a stamped twist into a different frame's orientation |
| C SaveCurrentState | Use the /get_planning_scene service from move_group to save the robot's current state |
| C SavePoseForUrdf | Saves a PoseStamped in xyz rpy URDF format to file |
| C SaveToYaml<T> | Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the ~/.config/moveit_pro/robot_config/objectives folder |
| C SendMessageToTopicBehaviorBase<MessageT> | Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports |
| C PublishEmpty | Publish a std_msgs::msg::Empty message to a topic |
| C PublishString | Publish a std_msgs::msg::String message to a topic |
| C SetAdmittanceParameters | Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior |
| C SetInitialPose | Looks up the robot's current pose via TF and publishes it to the localizer's initial-pose topic (default /initialpose) to re-seed the particle filter |
| C SetupMTCAddCollisionBox | Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution |
| C SetupMTCAddCollisionCylinder | Append an MTC ModifyPlanningScene stage that adds a cylinder-shaped collision object to the planning scene during MTC task execution |
| C SetupMTCAddCollisionMesh | Append an MTC ModifyPlanningScene stage that adds a mesh collision object to the planning scene during MTC task execution |
| C SetupMTCAddCollisionSphere | Append an MTC ModifyPlanningScene stage that adds a sphere-shaped collision object to the planning scene during MTC task execution |
| C SetupMTCAttachObjectByID | Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution |
| C SetupMTCBatchPoseIK | Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. * |
| C SetupMTCCartesianMoveToRobotState | Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state |
| C SetupMTCCartesianSequence | Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses |
| C SetupMTCConnectWithProRRT | Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner |
| C SetupMTCCurrentState | Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task |
| C SetupMTCDetachObjectByID | Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution |
| C SetupMTCInterpolateToRobotState | Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state |
| C SetupMTCMoveAlongFrameAxis | Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis |
| C SetupMTCMultiEEFMoveAlongAxis | The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task |
| C SetupMTCPathIK | Given an existing MTC Task object, append a stage to perform a cartesian motion along a given path |
| C SetupMTCPlanToPose | Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner |
| C SetupMTCPlanToRobotState | Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner |
| C SetupMTCRemoveCollisionObject | Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution |
| C SetupMTCSetCollisionRule | Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution |
| C SolveHandEyeCalibration<mode> | Solves both unknown transforms of a hand-eye calibration from collected samples |
| C SplitMTCSolution | Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports |
| C StopwatchEnd | Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed |
| C SuppressChildErrors | A decorator that filters the log messages produced while ticking its child Behavior |
| C SwitchUIPrimaryView | Switches the primary view in the MoveIt Studio Developer Tool |
| C TransformPose | Transforms a stamped pose given an input translation and orientation |
| C TransformPoseFrame | Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails |
| C TransformPoseWithPose | Transforms an input stamped pose with the transform specified by another stamped pose |
| C VisualizeCameraFrustum | Publishes a visualization marker showing a camera frustum as a LINE_LIST |
| C VisualizeLine | Publishes a visualization marker that draws a line between two poses |
| C VisualizeMesh | Publishes a marker that contains a mesh path to the UI for visualization |
| C VisualizePath | Publishes a marker array that contains a polyline representing a path |
| C VisualizePose | Publishes a visualization marker that contains three lines composing a coordinate frame |
| C WhichObjectIsAttached | Checks a PlanningScene to determine if an object is attached from a given vector of object names |
| C SharedResourcesNodeLoaderBase | The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode |
| C CoreBehaviorsLoader | |
| C MPCBehaviorsLoader | |
| C MTCCoreBehaviorsLoader | |
| C MujocoBehaviorsLoader | Plugin loader for MuJoCo-related behaviors |
| C NavBehaviorsLoader | |
| C VisionBehaviorsLoader | |
| S SplineOptimizationParameters | |
| C SplineTrajectory | SplineTrajectory fits piecewise splines to target positions by minimizing a specified cost function via convex optimization. The constructor sets up all the memory needed for running the optimization in the fit function and querying new points using the evaluate function |
| S State | |
| S State | |
| S StopTrajectory | |
| C StopwatchBegin | Saves the current epoch time as a timepoint to a data port |
| S StreamConfig | |
| C StringToInt | Converts a string to an int |
| C SubscriberInterface<MessageT> | One-shot subscriber interface that receives a single message from a topic, then cleans up |
| C RclcppSubscriberInterface<MessageT> | rclcpp implementation of the one-shot subscriber interface |
| C TestIKParams | |
| C TestImports | |
| C TestMTCCartesianPlanner | |
| C TestPartialPathError | |
| C TestPathIK | |
| C TestPathIK | |
| C TestPoseIKRegistration | |
| C TestPoseTarget | |
| C TestProRRTPlanner | |
| C TestSolveIK | |
| C TestSolveIKJointCosts | |
| C ThreadedFuture<T> | A future backed by an explicitly-owned std::jthread, for Behaviors that offload work to a background thread and poll for completion (e.g. in onRunning()) |
| S TrajectoryOptions | Options for creating a time-parameterized trajectory from waypoints |
| S TrajectoryParams | Parameters for the trajectory generation |
| C TrajectorySampler | |
| S TrajectorySummary | Summary statistics of the planned trajectory — present iff planning succeeded |
| S TrapezoidalProfileError | |
| C TrimPointcloudSurface | Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints |
| S type_caster<Eigen::Isometry3d> | Custom type caster for Eigen::Isometry3d |
| S UtilizedInterfaces | |
| S ValidatedInputs | |
| S VelocityForceParameters | |
| C VelocityForceSetpointGenerator | |
| S VFCBridge | |
| C WaitAndPopSolutionQueue | Pops the MTC solution queue to get the next solution to be processed |
| C WaitForDuration | Wait for a specified duration before succeeding |
| C WaitForJointTrajectoryApproval | Takes a raw JointTrajectory via an input data port (e.g. the output of PlanToJointGoal or PlanCartesianPath), wraps it in a minimal MTC Solution, and publishes it to 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. Visualizes the cartesian path for each valid input link name with a green line while waiting |
| C WaitForMTCSolutionApproval | Takes an MTC Solution message via an input data port and publishes it to 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. Visualizes the cartesian path for each valid input link name with a green line while waiting |
| C WaitForUserTrajectoryApproval | Takes an MTC Solution message via an input data port, and publishes it to 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. Visualizes the cartesian path for each valid input link name with a green line while waiting |
| C WithBehavior<BehaviorT> | Adds testing capabilities of Behaviors with context to any test fixture |
| C WithActionBehavior<...> | |
| C WithBehaviorWithoutContext<BehaviorT> | Adds testing capabilities of Behaviors without context to any test fixture |
| C WrenchTareAccumulator | |
| C WrongBehaviorPortsException | Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports |
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