DetachURDF Class

This Behavior detaches a URDF object from the robot. More...

Declaration

class moveit_pro::behaviors::DetachURDF { ... }

Included Headers

#include <detach_urdf.hpp>

Base class

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

Public Constructors Index

	DetachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs a DetachURDF behavior node. More...
	DetachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)
	Constructs a DetachURDF behavior node with a custom service client. More...

Public Static Functions Index

static BT::KeyValueVector	metadata ()
	Provides metadata for UI display and behavior categorization. More...

Description

This Behavior detaches a URDF object from the robot.

The URDF object with the given urdf_name will be detached from the robot. Once detached, the object will no longer move with the robot and will not be considered in motion planning calculations.

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

Definition at line 24 of file detach_urdf.hpp.

Public Constructors

DetachURDF()

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

Constructs a DetachURDF behavior node.

Parameters

name	The unique identifier for this node instance in the behavior tree.
config	Configuration object containing input/output port bindings and blackboard access.
shared_resources	Provides access to MoveIt planning scene, robot model, and ROS node interfaces.

Declaration at line 33 of file detach_urdf.hpp, definition at line 31 of file detach_urdf.cpp.

DetachURDF()

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

Constructs a DetachURDF behavior node with a custom service client.

Parameters

name	The unique identifier for this node instance in the behavior tree.
config	Configuration object containing input/output port bindings and blackboard access.
shared_resources	Provides access to MoveIt planning scene, robot model, and ROS node interfaces.
client_interface	Custom or mock service client implementation, typically used for unit testing.

Declaration at line 43 of file detach_urdf.hpp, definition at line 45 of file detach_urdf.cpp.

Public Static Functions

metadata()

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

static

Provides metadata for UI display and behavior categorization.

Returns

Key-value pairs defining the behavior's subcategory and description for the palette.

Declaration at line 51 of file detach_urdf.hpp, definition at line 57 of file detach_urdf.cpp.

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

• detach_urdf.hpp
• detach_urdf.cpp

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