DetachObject Class
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. 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... | |
Public Constructors Index
| DetachObject (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| DetachObject (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge) | |
Public Destructor Index
| ~DetachObject () override=default | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
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 | providedPorts () |
| static BT::KeyValueVector | metadata () |
Public Static Attributes Index
| static constexpr auto | kPortIDObjectId = "object_id" |
| static constexpr auto | kPortIDPlanningScene = "planning_scene" |
Description
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.
The Behavior has two operating modes selected by the planning_scene input port:
- Live scene mode (port unwired, default): the Behavior fetches the current planning scene from the /get_planning_scene service, then commits a detach diff via the /apply_planning_scene service. The server discovers the parent link, removes the object from the attached objects, and re-adds it to the world at its current pose. Service names are hard-coded; they are not exposed as ports.
- Supplied scene mode (port wired): the Behavior reads the moveit_msgs::PlanningScene message supplied on the port, moves the matching entry from robot_state.attached_collision_objects into world.collision_objects, and writes the modified scene back to the same port. No service calls are made.
Succeeds without changes (no-op) when the id is not attached to the robot, whether it is already a free world object or absent from the scene entirely: the detachment intent is already satisfied. Fails only when object_id is empty.
This Behavior detaches objects that were attached via the standard ApplyPlanningScene service. For URDF objects attached via AttachURDF, use DetachURDF instead.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| object_id | input | std::string |
| planning_scene | bidirectional | moveit_msgs::msg::PlanningScene |
Definition at line 67 of file detach_object.hpp.
Public Constructors
DetachObject()
| explicit |
Declaration at line 73 of file detach_object.hpp, definition at line 72 of file detach_object.cpp.
DetachObject()
| explicit |
Declaration at line 76 of file detach_object.hpp, definition at line 79 of file detach_object.cpp.
Public Destructor
~DetachObject()
| default |
Definition at line 80 of file detach_object.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 86 of file detach_object.hpp, definition at line 105 of file detach_object.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 88 of file detach_object.hpp.
Private Member Attributes
bridge_
|
Definition at line 95 of file detach_object.hpp.
future_
|
Definition at line 96 of file detach_object.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 83 of file detach_object.hpp, definition at line 100 of file detach_object.cpp.
providedPorts()
| static |
Declaration at line 82 of file detach_object.hpp, definition at line 86 of file detach_object.cpp.
Public Static Attributes
kPortIDObjectId
| constexpr static |
Definition at line 70 of file detach_object.hpp.
kPortIDPlanningScene
| constexpr static |
Definition at line 71 of file detach_object.hpp.
The documentation for this class was generated from the following files:
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