AddCollisionBox Class

Adds a box-shaped CollisionObject to the planning scene. More...

Declaration

class moveit_pro::behaviors::AddCollisionBox { ... }

Included Headers

#include <add_collision_box.hpp>

Base class

class	AddCollisionObjectBase
	Abstract base for Behaviors that add a CollisionObject to the planning scene. More...

Public Constructors Index

	AddCollisionBox (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	AddCollisionBox (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge)

Private Member Functions Index

tl::expected< moveit_msgs::msg::CollisionObject, std::string >	buildCollisionObject () override
	Build the CollisionObject to apply to the planning scene. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Adds a box-shaped CollisionObject to the planning scene.

Reads object_id, dimensions, and pose from the input ports and builds a box-shaped CollisionObject (one SOLID_PRIMITIVE BOX), then adds it to a planning scene. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to modify a supplied moveit_msgs::msg::PlanningScene message instead; the modified scene is written back to the same port and no services are called. See AddCollisionObjectBase for details on the two modes and the overwrite port semantics.

Returns FAILURE when object_id is empty, when dimensions.size() is not 3, when any element of dimensions is non-finite or not greater than 0, when pose.header.frame_id is empty, when overwrite=false and a world entry with the same id is already present, when an entry with the same id is currently attached to the robot, or when a required service call fails in live scene mode.

Data Port Name	Port Type	Object Type
object_id	input	std::string
dimensions	input	std::vector<double>
pose	input	geometry_msgs::msg::PoseStamped
overwrite	input	bool
planning_scene	bidirectional	moveit_msgs::msg::PlanningScene

Definition at line 55 of file add_collision_box.hpp.

Public Constructors

AddCollisionBox()

moveit_pro::behaviors::AddCollisionBox::AddCollisionBox (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

explicit

Declaration at line 58 of file add_collision_box.hpp, definition at line 96 of file add_collision_box.cpp.

AddCollisionBox()

moveit_pro::behaviors::AddCollisionBox::AddCollisionBox (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources, std::unique_ptr< PlanningSceneBridge > bridge)

explicit

Declaration at line 61 of file add_collision_box.hpp, definition at line 102 of file add_collision_box.cpp.

Private Member Functions

buildCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::AddCollisionBox::buildCollisionObject ()

virtual

Build the CollisionObject to apply to the planning scene.

Returns

The CollisionObject on success, or a descriptive error message on failure.

Declaration at line 69 of file add_collision_box.hpp, definition at line 131 of file add_collision_box.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::AddCollisionBox::metadata ()

static

Declaration at line 66 of file add_collision_box.hpp, definition at line 126 of file add_collision_box.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::AddCollisionBox::providedPorts ()

static

Declaration at line 65 of file add_collision_box.hpp, definition at line 109 of file add_collision_box.cpp.

---

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

• add_collision_box.hpp
• add_collision_box.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.