DetachOrRemoveURDF Class

Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene. More...

Declaration

class moveit_pro::behaviors::DetachOrRemoveURDF { ... }

Included Headers

#include <detach_or_remove_urdf.hpp>

Base class

class	ServiceClientBehaviorBase<ServiceT>
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...

Derived Classes

class	DetachURDF
	This Behavior detaches a URDF object from the robot. More...
class	RemoveURDFFromScene
	This Behavior removes a URDF object from the planning scene. More...

Public Member Typedefs Index

using	DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

Public Constructors Index

	DetachOrRemoveURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	DetachOrRemoveURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)

Public Member Functions Index

void	setServiceName (std::string service_name)
	Set the service name this Behavior targets. Derived classes call this from their constructor. More...

Private Member Functions Index

tl::expected< std::string, std::string >	getServiceName () override
	User-provided function to get the name of the service when initializing the service client. More...
tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout () override
	Optional user-provided function to set the timeout used when waiting for the service response. More...
tl::expected< DetachOrRemoveURDFSrv::Request, std::string >	createRequest () override
	User-provided function to create the service request. More...
tl::expected< bool, std::string >	processResponse (const DetachOrRemoveURDFSrv::Response &response) override
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_future< tl::expected< bool, std::string > >	future_
std::string	service_name_

Public Static Functions Index

static BT::PortsList	providedPorts ()

Public Static Attributes Index

static constexpr auto	kDefaultUrdfNamePort = "urdf_name"
static constexpr auto	kDetachURDFBehaviorName = "DetachURDF"
static constexpr auto	kRemoveURDFFromSceneBehaviorName = "RemoveURDFFromScene"
static constexpr auto	kDetachURDFServiceName = "detach_urdf"
static constexpr auto	kRemoveURDFFromSceneServiceName = "remove_urdf_from_scene"

Description

Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene.

This is a base class used by DetachURDF and RemoveURDFFromScene behaviors. Derived classes call setServiceName() in their constructors to select the appropriate service.

Data Port Name	Port Type	Object Type
urdf_name	input	std::string

Definition at line 25 of file detach_or_remove_urdf.hpp.

Public Member Typedefs

DetachOrRemoveURDFSrv

using moveit_pro::behaviors::DetachOrRemoveURDF::DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

Definition at line 28 of file detach_or_remove_urdf.hpp.

Public Constructors

DetachOrRemoveURDF()

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

explicit

Declaration at line 38 of file detach_or_remove_urdf.hpp, definition at line 23 of file detach_or_remove_urdf.cpp.

DetachOrRemoveURDF()

moveit_pro::behaviors::DetachOrRemoveURDF::DetachOrRemoveURDF (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)

explicit

Declaration at line 41 of file detach_or_remove_urdf.hpp, definition at line 30 of file detach_or_remove_urdf.cpp.

Public Member Functions

setServiceName()

void moveit_pro::behaviors::DetachOrRemoveURDF::setServiceName (std::string service_name)

inline

Set the service name this Behavior targets. Derived classes call this from their constructor.

Definition at line 48 of file detach_or_remove_urdf.hpp.

Private Member Functions

createRequest()

tl::expected< DetachOrRemoveURDFSrv::Request, std::string > moveit_pro::behaviors::DetachOrRemoveURDF::createRequest ()

virtual

User-provided function to create the service request.

Returns

Returns a service request message. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 58 of file detach_or_remove_urdf.hpp, definition at line 53 of file detach_or_remove_urdf.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::DetachOrRemoveURDF::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 64 of file detach_or_remove_urdf.hpp.

getResponseTimeout()

tl::expected< std::chrono::duration< double >, std::string > moveit_pro::behaviors::DetachOrRemoveURDF::getResponseTimeout ()

virtual

Optional user-provided function to set the timeout used when waiting for the service response.

If no user-defined implementation is provided, the default implementation returns a negative duration, which will cause the service client to wait for the response without timing out.

Returns

Returns the service response timeout duration. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 56 of file detach_or_remove_urdf.hpp, definition at line 48 of file detach_or_remove_urdf.cpp.

getServiceName()

tl::expected< std::string, std::string > moveit_pro::behaviors::DetachOrRemoveURDF::getServiceName ()

virtual

User-provided function to get the name of the service when initializing the service client.

Returns

Returns the name of the service. If not successful, returns an error message. Note that the criteria for success or failure is defined by the user's implementation of this function.

Declaration at line 54 of file detach_or_remove_urdf.hpp, definition at line 43 of file detach_or_remove_urdf.cpp.

processResponse()

tl::expected< bool, std::string > moveit_pro::behaviors::DetachOrRemoveURDF::processResponse (const DetachOrRemoveURDFSrv::Response & response)

Declaration at line 60 of file detach_or_remove_urdf.hpp, definition at line 65 of file detach_or_remove_urdf.cpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::DetachOrRemoveURDF::future_

Definition at line 68 of file detach_or_remove_urdf.hpp.

service_name_

std::string moveit_pro::behaviors::DetachOrRemoveURDF::service_name_

Definition at line 69 of file detach_or_remove_urdf.hpp.

Public Static Functions

providedPorts()

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

static

Declaration at line 45 of file detach_or_remove_urdf.hpp, definition at line 38 of file detach_or_remove_urdf.cpp.

Public Static Attributes

kDefaultUrdfNamePort

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDefaultUrdfNamePort = "urdf_name"

constexpr static

Definition at line 30 of file detach_or_remove_urdf.hpp.

kDetachURDFBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDetachURDFBehaviorName = "DetachURDF"

constexpr static

Definition at line 32 of file detach_or_remove_urdf.hpp.

kDetachURDFServiceName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDetachURDFServiceName = "detach_urdf"

constexpr static

Definition at line 35 of file detach_or_remove_urdf.hpp.

kRemoveURDFFromSceneBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kRemoveURDFFromSceneBehaviorName = "RemoveURDFFromScene"

constexpr static

Definition at line 33 of file detach_or_remove_urdf.hpp.

kRemoveURDFFromSceneServiceName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kRemoveURDFFromSceneServiceName = "remove_urdf_from_scene"

constexpr static

Definition at line 36 of file detach_or_remove_urdf.hpp.

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

• detach_or_remove_urdf.hpp
• detach_or_remove_urdf.cpp

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