FindSingularCuboids Class

Finds well-singulated cuboids supported by a surface within a point cloud. More...

Declaration

class moveit_pro::behaviors::FindSingularCuboids { ... }

Included Headers

#include <find_singular_cuboids.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override

Private Member Functions Index

tl::expected< void, std::string >	compute (const sensor_msgs::msg::PointCloud2 &point_cloud_msg, const moveit_studio::point_cloud_tools::SingularCuboidFinderConfig &config, const std::string &base_frame)
	Extract cuboids from the point cloud and set detected cuboids as an output data port. More...

Private Member Attributes Index

rviz_visual_tools::RvizVisualToolsPtr	visual_tools_
	Tool to publish debug visualizations. More...
BT::NodeStatus	status_
	Holds the behavior status. More...
ThreadedFuture< tl::expected< void, std::string > >	compute_future_
	Future associated with the asynchronous compute process. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Public Static Attributes Index

static constexpr auto	kPortIDPointCloud = "point_cloud"
static constexpr auto	kPortIDBaseFrame = "base_frame"
static constexpr auto	kPortIDPlaneModelThreshold = "plane_model_threshold"
static constexpr auto	kPortIDClusterDistanceThreshold = "cluster_distance_threshold"
static constexpr auto	kPortIDCropBoxOriginXYZ = "crop_box_origin_xyz"
static constexpr auto	kPortIDCropBoxSizeXYZ = "crop_box_size_xyz"
static constexpr auto	kPortIDDetectedShapes = "detected_shapes"

Description

Finds well-singulated cuboids supported by a surface within a point cloud.

This behavior makes some assumptions about the environment:

• The input point cloud must include a large flat surface, such as a tabletop or floor.
• The filtering and cropping steps are expected to remove all points which are far away from this surface.
• After filtering, all remaining clusters of points are assumed to be objects which are supported by the surface.

The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
base_frame	input	std::string
plane_model_threshold	input	double
cluster_distance_threshold	input	double
crop_box_origin_xyz	input	std::vector<double>
crop_box_size_xyz	input	std::vector<double>
detected_shapes	output	std::vector<GraspableObject>

Definition at line 41 of file find_singular_cuboids.hpp.

Public Constructors

FindSingularCuboids()

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

Declaration at line 53 of file find_singular_cuboids.hpp, definition at line 88 of file find_singular_cuboids.cpp.

Public Member Functions

onHalted()

void moveit_pro::behaviors::FindSingularCuboids::onHalted ()

Declaration at line 60 of file find_singular_cuboids.hpp, definition at line 224 of file find_singular_cuboids.cpp.

onRunning()

BT::NodeStatus moveit_pro::behaviors::FindSingularCuboids::onRunning ()

Declaration at line 58 of file find_singular_cuboids.hpp, definition at line 201 of file find_singular_cuboids.cpp.

onStart()

BT::NodeStatus moveit_pro::behaviors::FindSingularCuboids::onStart ()

Declaration at line 56 of file find_singular_cuboids.hpp, definition at line 129 of file find_singular_cuboids.cpp.

Private Member Functions

compute()

tl::expected< void, std::string > moveit_pro::behaviors::FindSingularCuboids::compute (const sensor_msgs::msg::PointCloud2 & point_cloud_msg, const moveit_studio::point_cloud_tools::SingularCuboidFinderConfig & config, const std::string & base_frame)

Extract cuboids from the point cloud and set detected cuboids as an output data port.

Parameters

point_cloud_msg	Point cloud to process.
config	Settings to configure point cloud processing.

Returns

BT::NodeStatus::SUCCESS if cuboid detection succeeded. BT::NodeStatus::FAILURE if there was an error.

Declaration at line 74 of file find_singular_cuboids.hpp, definition at line 232 of file find_singular_cuboids.cpp.

Private Member Attributes

compute_future_

ThreadedFuture<tl::expected<void, std::string> > moveit_pro::behaviors::FindSingularCuboids::compute_future_

Future associated with the asynchronous compute process.

When set, will contain a result that shows if the process succeeded or failed. Declared last so its joining destructor runs before any sibling member the background task dereferences is destroyed.

Definition at line 91 of file find_singular_cuboids.hpp.

status_

BT::NodeStatus moveit_pro::behaviors::FindSingularCuboids::status_

Holds the behavior status.

Definition at line 84 of file find_singular_cuboids.hpp.

visual_tools_

rviz_visual_tools::RvizVisualToolsPtr moveit_pro::behaviors::FindSingularCuboids::visual_tools_

Tool to publish debug visualizations.

Definition at line 80 of file find_singular_cuboids.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 64 of file find_singular_cuboids.hpp, definition at line 123 of file find_singular_cuboids.cpp.

providedPorts()

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

static

Declaration at line 62 of file find_singular_cuboids.hpp, definition at line 97 of file find_singular_cuboids.cpp.

Public Static Attributes

kPortIDBaseFrame

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDBaseFrame = "base_frame"

constexpr static

Definition at line 46 of file find_singular_cuboids.hpp.

kPortIDClusterDistanceThreshold

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDClusterDistanceThreshold = "cluster_distance_threshold"

constexpr static

Definition at line 48 of file find_singular_cuboids.hpp.

kPortIDCropBoxOriginXYZ

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDCropBoxOriginXYZ = "crop_box_origin_xyz"

constexpr static

Definition at line 49 of file find_singular_cuboids.hpp.

kPortIDCropBoxSizeXYZ

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDCropBoxSizeXYZ = "crop_box_size_xyz"

constexpr static

Definition at line 50 of file find_singular_cuboids.hpp.

kPortIDDetectedShapes

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDDetectedShapes = "detected_shapes"

constexpr static

Definition at line 51 of file find_singular_cuboids.hpp.

kPortIDPlaneModelThreshold

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDPlaneModelThreshold = "plane_model_threshold"

constexpr static

Definition at line 47 of file find_singular_cuboids.hpp.

kPortIDPointCloud

constexpr auto moveit_pro::behaviors::FindSingularCuboids::kPortIDPointCloud = "point_cloud"

constexpr static

Definition at line 45 of file find_singular_cuboids.hpp.

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

• find_singular_cuboids.hpp
• find_singular_cuboids.cpp

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