AddCollisionObjectBase Class
Abstract base for Behaviors that add a CollisionObject to the planning scene. More...
Declaration
Included Headers
Base class
| class | AsyncBehaviorBase |
|
A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More... | |
Derived Classes
| class | AddCollisionBox |
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Adds a box-shaped CollisionObject to the planning scene. More... | |
| class | AddCollisionCylinder |
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Adds a cylinder-shaped CollisionObject to the planning scene. More... | |
| class | AddCollisionMesh |
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Adds a mesh CollisionObject to the planning scene. More... | |
| class | AddCollisionObject |
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Adds a user-supplied CollisionObject to the planning scene. More... | |
| class | AddCollisionSphere |
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Adds a sphere-shaped CollisionObject to the planning scene. More... | |
Public Constructors Index
| AddCollisionObjectBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| AddCollisionObjectBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge) | |
Public Destructor Index
| ~AddCollisionObjectBase () override=default | |
Public Member Functions Index
| tl::expected< moveit_msgs::msg::CollisionObject, std::string > | buildCollisionObject ()=0 |
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Build the CollisionObject to apply to the planning scene. More... | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
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User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
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Gets the shared future which is used to monitor the progress of the async process. More... | |
Private Member Attributes Index
| std::unique_ptr< PlanningSceneBridge > | bridge_ |
| std::shared_future< tl::expected< bool, std::string > > | future_ |
Public Static Functions Index
| static BT::PortsList | commonPorts () |
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Returns the input ports owned by this base class: overwrite and planning_scene. Subclasses concatenate this list into their own providedPorts() so every shape-specific Add inherits the same wiring. More... | |
Public Static Attributes Index
| static constexpr auto | kPortIDOverwrite = "overwrite" |
| static constexpr auto | kPortIDPlanningScene = "planning_scene" |
Description
Abstract base for Behaviors that add a CollisionObject to the planning scene.
Subclasses override buildCollisionObject() to produce the CollisionObject. The base class then validates the object (non-empty id, non-empty frame_id, equal-size subframe arrays), enforces operation = ADD, and commits the addition.
The Behavior has two operating modes selected by the planning_scene input port:
- Live scene mode (port unwired): the Behavior fetches the current planning scene from the /get_planning_scene service, then commits by sending a diff to the /apply_planning_scene service. Service names are hard-coded; they are not exposed as ports. This is the default behavior.
- Supplied scene mode (port wired): the Behavior modifies the moveit_msgs::PlanningScene message supplied on the port and writes the result back to the same port. No service calls are made.
Before adding the object, the Behavior looks for another entry in the planning scene with the same id. The id can already be present in two places: in the world (world.collision_objects), or attached to the robot (robot_state.attached_collision_objects).
- If a world entry with the same id already exists, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced.
- If an attached entry with the same id already exists, the Behavior fails regardless of overwrite, and the caller must detach the object first. This Behavior never modifies the attached list.
Definition at line 53 of file add_collision_object_base.hpp.
Public Constructors
AddCollisionObjectBase()
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Declaration at line 66 of file add_collision_object_base.hpp, definition at line 84 of file add_collision_object_base.cpp.
AddCollisionObjectBase()
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Declaration at line 69 of file add_collision_object_base.hpp, definition at line 91 of file add_collision_object_base.cpp.
Public Destructor
~AddCollisionObjectBase()
| default |
Definition at line 73 of file add_collision_object_base.hpp.
Public Member Functions
buildCollisionObject()
|
Build the CollisionObject to apply to the planning scene.
- Returns
The CollisionObject on success, or a descriptive error message on failure.
Definition at line 78 of file add_collision_object_base.hpp.
Private Member Functions
doWork()
| virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 81 of file add_collision_object_base.hpp, definition at line 114 of file add_collision_object_base.cpp.
getFuture()
| inline virtual |
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 83 of file add_collision_object_base.hpp.
Private Member Attributes
bridge_
|
Definition at line 91 of file add_collision_object_base.hpp.
future_
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Definition at line 92 of file add_collision_object_base.hpp.
Public Static Functions
commonPorts()
| static |
Returns the input ports owned by this base class: overwrite and planning_scene. Subclasses concatenate this list into their own providedPorts() so every shape-specific Add inherits the same wiring.
Declaration at line 64 of file add_collision_object_base.hpp, definition at line 98 of file add_collision_object_base.cpp.
Public Static Attributes
kPortIDOverwrite
| constexpr static |
Definition at line 56 of file add_collision_object_base.hpp.
kPortIDPlanningScene
| constexpr static |
Definition at line 57 of file add_collision_object_base.hpp.
The documentation for this class was generated from the following files:
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