GenerateVacuumGraspPoses Class

Given a target GraspableObject and planning details about the arm, generate grasp poses. More...

Declaration

class moveit_pro::behaviors::GenerateVacuumGraspPoses { ... }

Included Headers

#include <generate_vacuum_grasp_poses.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Attributes Index

std::optional< Eigen::Isometry3d >	tform_gripper_base_to_gripper_display_root_ { Eigen::Isometry3d::Identity() }
	Transform from the gripper base frame used by MoveIt to the frame used as the root link of the gripper model which is displayed within the UI. More...
std::shared_ptr< rclcpp::Publisher< geometry_msgs::msg::PoseStamped > >	grasp_solution_publisher_
	Publisher used to send grasp solutions to the UI. More...

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDTargetObject = "target_object"
static constexpr auto	kPortIDPlanningSceneMsg = "planning_scene_msg"
static constexpr auto	kPortIDEndEffectorGroupName = "end_effector_group_name"
static constexpr auto	kPortIDUIGraspFrameName = "ui_grasp_link"
static constexpr auto	kPortIDGenerateCentroidGrasps = "generate_centroid_grasps"
static constexpr auto	kPortIDPaddingDimension = "padding_dimension"
static constexpr auto	kPortIDSamplesPerPlane = "samples_per_plane"
static constexpr auto	kPortIDNumOrientationSamples = "num_orientation_samples"
static constexpr auto	kPortIDEEToTCPTransform = "ee_to_tcp_tf"
static constexpr auto	kPortIDGraspPoses = "grasp_poses"

Description

Given a target GraspableObject and planning details about the arm, generate grasp poses.

Data Port Name	Port Type	Object Type	Description
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject	Cuboid object to grasp, represented as a moveit_studio_vision_msgs/GraspableObject.
planning_scene	Input	moveit_msgs::msg::PlanningScene	Planning scene message.
end_effector_group_name	Input	std::string	Name of the end effector group.
ui_grasp_frame_name	Input	std::string	Name of the UI grasp frame link.
generate_centroid_grasps	Input	bool	If true, generate grasps at the centroid of each surface.
padding_dimension	Input	double	Padding on planar faces to avoid sampling on edges.
samples_per_plane	Input	int	Number of samples per plane for grasp generation.
num_orientation_samples	Input	int	Number of orientation samples for grasp generation.
ee_to_tcp_transform	Input	geometry_msgs::msg::PoseStamped	Transform from the end effector to the tool center point provided as a PoseStamped msg.
grasp_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>	Generated grasp poses.

Definition at line 39 of file generate_vacuum_grasp_poses.hpp.

Public Constructors

GenerateVacuumGraspPoses()

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

Declaration at line 54 of file generate_vacuum_grasp_poses.hpp, definition at line 40 of file generate_vacuum_grasp_poses.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::GenerateVacuumGraspPoses::tick ()

Declaration at line 61 of file generate_vacuum_grasp_poses.hpp, definition at line 82 of file generate_vacuum_grasp_poses.cpp.

Private Member Attributes

grasp_solution_publisher_

std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::PoseStamped> > moveit_pro::behaviors::GenerateVacuumGraspPoses::grasp_solution_publisher_

Publisher used to send grasp solutions to the UI.

Definition at line 69 of file generate_vacuum_grasp_poses.hpp.

tform_gripper_base_to_gripper_display_root_

std::optional<Eigen::Isometry3d> moveit_pro::behaviors::GenerateVacuumGraspPoses::tform_gripper_base_to_gripper_display_root_ { Eigen::Isometry3d::Identity() }

Transform from the gripper base frame used by MoveIt to the frame used as the root link of the gripper model which is displayed within the UI.

Definition at line 66 of file generate_vacuum_grasp_poses.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 59 of file generate_vacuum_grasp_poses.hpp, definition at line 76 of file generate_vacuum_grasp_poses.cpp.

providedPorts()

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

static

Declaration at line 57 of file generate_vacuum_grasp_poses.hpp, definition at line 49 of file generate_vacuum_grasp_poses.cpp.

Public Static Attributes

kPortIDEEToTCPTransform

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDEEToTCPTransform = "ee_to_tcp_tf"

constexpr static

Definition at line 51 of file generate_vacuum_grasp_poses.hpp.

kPortIDEndEffectorGroupName

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDEndEffectorGroupName = "end_effector_group_name"

constexpr static

Definition at line 45 of file generate_vacuum_grasp_poses.hpp.

kPortIDGenerateCentroidGrasps

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDGenerateCentroidGrasps = "generate_centroid_grasps"

constexpr static

Definition at line 47 of file generate_vacuum_grasp_poses.hpp.

kPortIDGraspPoses

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDGraspPoses = "grasp_poses"

constexpr static

Definition at line 52 of file generate_vacuum_grasp_poses.hpp.

kPortIDNumOrientationSamples

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDNumOrientationSamples = "num_orientation_samples"

constexpr static

Definition at line 50 of file generate_vacuum_grasp_poses.hpp.

kPortIDPaddingDimension

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDPaddingDimension = "padding_dimension"

constexpr static

Definition at line 48 of file generate_vacuum_grasp_poses.hpp.

kPortIDPlanningSceneMsg

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDPlanningSceneMsg = "planning_scene_msg"

constexpr static

Definition at line 44 of file generate_vacuum_grasp_poses.hpp.

kPortIDSamplesPerPlane

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDSamplesPerPlane = "samples_per_plane"

constexpr static

Definition at line 49 of file generate_vacuum_grasp_poses.hpp.

kPortIDTargetObject

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDTargetObject = "target_object"

constexpr static

Definition at line 43 of file generate_vacuum_grasp_poses.hpp.

kPortIDUIGraspFrameName

constexpr auto moveit_pro::behaviors::GenerateVacuumGraspPoses::kPortIDUIGraspFrameName = "ui_grasp_link"

constexpr static

Definition at line 46 of file generate_vacuum_grasp_poses.hpp.

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

• generate_vacuum_grasp_poses.hpp
• generate_vacuum_grasp_poses.cpp

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