AddCollisionSphere Class

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

Declaration

class moveit_pro::behaviors::AddCollisionSphere { ... }

Included Headers

#include <add_collision_sphere.hpp>

Base class

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

Public Constructors Index

	AddCollisionSphere (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	AddCollisionSphere (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 sphere-shaped CollisionObject to the planning scene.

Reads object_id, radius, and pose from the input ports and builds a sphere-shaped CollisionObject (one SOLID_PRIMITIVE SPHERE), 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 radius 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
radius	input	double
pose	input	geometry_msgs::msg::PoseStamped
overwrite	input	bool
planning_scene	bidirectional	moveit_msgs::msg::PlanningScene

Definition at line 51 of file add_collision_sphere.hpp.

Public Constructors

AddCollisionSphere()

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

explicit

Declaration at line 54 of file add_collision_sphere.hpp, definition at line 81 of file add_collision_sphere.cpp.

AddCollisionSphere()

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

explicit

Declaration at line 57 of file add_collision_sphere.hpp, definition at line 87 of file add_collision_sphere.cpp.

Private Member Functions

buildCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::AddCollisionSphere::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 65 of file add_collision_sphere.hpp, definition at line 115 of file add_collision_sphere.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 62 of file add_collision_sphere.hpp, definition at line 110 of file add_collision_sphere.cpp.

providedPorts()

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

static

Declaration at line 61 of file add_collision_sphere.hpp, definition at line 94 of file add_collision_sphere.cpp.

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

• add_collision_sphere.hpp
• add_collision_sphere.cpp

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