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JointJog Class

A Behavior to forward JointJog commands to a Joint Velocity Controller. More...

Declaration​

class moveit_pro::behaviors::JointJog { ... }

Included Headers​

#include <joint_jog.hpp>

Base class​

classSharedResourcesNode<BehaviorTreeNodeT>

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

Public Constructors Index​

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

Public Member Functions Index​

BT::NodeStatusonStart () override
BT::NodeStatusonRunning () override
voidonHalted () override
std::shared_ptr< moveit_pro::planning_scene_monitor::PlanningSceneMonitor >getPlanningSceneMonitor () const
voidsetParametersFromJointVelocityController (std::string_view joint_model_group_name, const Eigen::VectorXd &controller_max_joint_acceleration, const Eigen::VectorXd &controller_max_joint_velocity)

Private Member Functions Index​

voidsceneUpdateCallback (const moveit_pro::planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType &update_type)
tl::expected< void, std::string >validateInputs () const
voidstopController () const
tl::expected< void, std::string >processParameters ()
tl::expected< void, BT::NodeStatus >handleParameterProcessing ()

Private Member Attributes Index​

std::stringcontroller_name_
doublelink_padding_ = 0.0
doublestop_safety_factor_ = 1.0
boolinclude_octomap_ = false
boolskip_collision_checks_ = false
std::shared_ptr< rclcpp::Subscription< control_msgs::msg::JointJog > >command_subscriber_
std::shared_ptr< rclcpp::Publisher< control_msgs::msg::JointJog > >command_publisher_
control_msgs::msg::JointJoglatest_command_
rclcpp::Timetime_last_command_received_
rclcpp::Timetime_last_command_processed_
rclcpp::Timetime_last_command_forwarded_
std::shared_mutexcommand_mutex_
std::shared_ptr< rclcpp::Subscription< moveit_msgs::msg::PlanningScene > >main_scene_subscriber_
std::shared_ptr< moveit_pro::planning_scene_monitor::PlanningSceneMonitor >planning_scene_monitor_
std::atomic< bool >state_prediction_valid_ = true
std::unique_ptr< moveit_pro::base::RobotState >stop_robot_state_
std::shared_ptr< rclcpp::Client< rcl_interfaces::srv::GetParameters > >joint_velocity_controller_parameter_client
std::mutexjvc_parameter_mutex_
boolparameters_received_ = false
boolparameters_processed_ = false
std::stringjoint_model_group_name_
const moveit_pro::base::JointModelGroup *joint_model_group_ = nullptr
Eigen::VectorXdcontroller_max_joint_acceleration_
Eigen::VectorXdcontroller_max_joint_velocity_
rclcpp::Timestart_time_

Public Static Functions Index​

static BT::PortsListprovidedPorts ()
static BT::KeyValueVectormetadata ()

Public Static Attributes Index​

static constexpr autokPortIdControllerName = "controller_name"
static constexpr autokPortIdLinkPadding = "link_padding"
static constexpr autokPortIdStopSafetyFactor = "stop_safety_factor"
static constexpr autokPortIdIncludeOctomap = "include_octomap"
static constexpr autokPortIdSkipCollisionChecks = "skip_collision_checks"

Description​

A Behavior to forward JointJog commands to a Joint Velocity Controller.

This Behavior will subscribe to messages of type control_msgs/JointJog, and forward them to a Joint Velocity Controller for execution. The behavior acts as a bridge, forwarding commands to the controller only if they are 'safe' to execute, i.e. not predicted to cause a collision in the near future, or hit joint limits.

The planning group to control is retrieved from the Joint Velocity Controller's (JVC) parameter server, since each JVC instance is configured to control a specific planning group.

A link padding can be specified to virtually increase the size of the robot links for collision checking. A stop safety factor can be specified to increase the time horizon for the stop trajectory collision check.

Data Port NamePort TypeObject Type
controller_nameInputstd::string
link_paddingInputdouble
stop_safety_factorInputdouble
include_octomapInputbool
skip_collision_checksInputbool

Definition at line 46 of file joint_jog.hpp.

Public Constructors​

JointJog()​

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

Declaration at line 56 of file joint_jog.hpp, definition at line 88 of file joint_jog.cpp.

Public Member Functions​

getPlanningSceneMonitor()​

std::shared_ptr< moveit_pro::planning_scene_monitor::PlanningSceneMonitor > moveit_pro::behaviors::JointJog::getPlanningSceneMonitor ()
 inline

Definition at line 74 of file joint_jog.hpp.

onHalted()​

void moveit_pro::behaviors::JointJog::onHalted ()

Declaration at line 71 of file joint_jog.hpp, definition at line 529 of file joint_jog.cpp.

onRunning()​

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

Declaration at line 67 of file joint_jog.hpp, definition at line 447 of file joint_jog.cpp.

onStart()​

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

Declaration at line 64 of file joint_jog.hpp, definition at line 310 of file joint_jog.cpp.

setParametersFromJointVelocityController()​

void moveit_pro::behaviors::JointJog::setParametersFromJointVelocityController (std::string_view joint_model_group_name, const Eigen::VectorXd & controller_max_joint_acceleration, const Eigen::VectorXd & controller_max_joint_velocity)

Declaration at line 81 of file joint_jog.hpp, definition at line 299 of file joint_jog.cpp.

Private Member Functions​

handleParameterProcessing()​

tl::expected< void, BT::NodeStatus > moveit_pro::behaviors::JointJog::handleParameterProcessing ()

Declaration at line 104 of file joint_jog.hpp, definition at line 410 of file joint_jog.cpp.

processParameters()​

tl::expected< void, std::string > moveit_pro::behaviors::JointJog::processParameters ()

Declaration at line 98 of file joint_jog.hpp, definition at line 153 of file joint_jog.cpp.

sceneUpdateCallback()​

void moveit_pro::behaviors::JointJog::sceneUpdateCallback (const moveit_pro::planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType & update_type)

Declaration at line 88 of file joint_jog.hpp, definition at line 173 of file joint_jog.cpp.

stopController()​

void moveit_pro::behaviors::JointJog::stopController ()

Declaration at line 94 of file joint_jog.hpp, definition at line 144 of file joint_jog.cpp.

validateInputs()​

tl::expected< void, std::string > moveit_pro::behaviors::JointJog::validateInputs ()

Declaration at line 91 of file joint_jog.hpp, definition at line 94 of file joint_jog.cpp.

Private Member Attributes​

command_mutex_​

std::shared_mutex moveit_pro::behaviors::JointJog::command_mutex_
 mutable

Definition at line 124 of file joint_jog.hpp.

command_publisher_​

std::shared_ptr<rclcpp::Publisher<control_msgs::msg::JointJog> > moveit_pro::behaviors::JointJog::command_publisher_

Definition at line 115 of file joint_jog.hpp.

command_subscriber_​

std::shared_ptr<rclcpp::Subscription<control_msgs::msg::JointJog> > moveit_pro::behaviors::JointJog::command_subscriber_

Definition at line 114 of file joint_jog.hpp.

controller_max_joint_acceleration_​

Eigen::VectorXd moveit_pro::behaviors::JointJog::controller_max_joint_acceleration_

Definition at line 149 of file joint_jog.hpp.

controller_max_joint_velocity_​

Eigen::VectorXd moveit_pro::behaviors::JointJog::controller_max_joint_velocity_

Definition at line 150 of file joint_jog.hpp.

controller_name_​

std::string moveit_pro::behaviors::JointJog::controller_name_

Definition at line 107 of file joint_jog.hpp.

include_octomap_​

bool moveit_pro::behaviors::JointJog::include_octomap_ = false

Definition at line 110 of file joint_jog.hpp.

joint_model_group_​

const moveit_pro::base::JointModelGroup* moveit_pro::behaviors::JointJog::joint_model_group_ = nullptr

Definition at line 148 of file joint_jog.hpp.

joint_model_group_name_​

std::string moveit_pro::behaviors::JointJog::joint_model_group_name_

Definition at line 147 of file joint_jog.hpp.

joint_velocity_controller_parameter_client​

std::shared_ptr<rclcpp::Client<rcl_interfaces::srv::GetParameters> > moveit_pro::behaviors::JointJog::joint_velocity_controller_parameter_client

Definition at line 141 of file joint_jog.hpp.

jvc_parameter_mutex_​

std::mutex moveit_pro::behaviors::JointJog::jvc_parameter_mutex_

Definition at line 144 of file joint_jog.hpp.

latest_command_​

control_msgs::msg::JointJog moveit_pro::behaviors::JointJog::latest_command_

Definition at line 118 of file joint_jog.hpp.

link_padding_​

double moveit_pro::behaviors::JointJog::link_padding_ = 0.0

Definition at line 108 of file joint_jog.hpp.

main_scene_subscriber_​

std::shared_ptr<rclcpp::Subscription<moveit_msgs::msg::PlanningScene> > moveit_pro::behaviors::JointJog::main_scene_subscriber_

Definition at line 127 of file joint_jog.hpp.

parameters_processed_​

bool moveit_pro::behaviors::JointJog::parameters_processed_ = false

Definition at line 146 of file joint_jog.hpp.

parameters_received_​

bool moveit_pro::behaviors::JointJog::parameters_received_ = false

Definition at line 145 of file joint_jog.hpp.

planning_scene_monitor_​

std::shared_ptr<moveit_pro::planning_scene_monitor::PlanningSceneMonitor> moveit_pro::behaviors::JointJog::planning_scene_monitor_

Definition at line 130 of file joint_jog.hpp.

skip_collision_checks_​

bool moveit_pro::behaviors::JointJog::skip_collision_checks_ = false

Definition at line 111 of file joint_jog.hpp.

start_time_​

rclcpp::Time moveit_pro::behaviors::JointJog::start_time_

Definition at line 153 of file joint_jog.hpp.

state_prediction_valid_​

std::atomic<bool> moveit_pro::behaviors::JointJog::state_prediction_valid_ = true

Definition at line 133 of file joint_jog.hpp.

stop_robot_state_​

std::unique_ptr<moveit_pro::base::RobotState> moveit_pro::behaviors::JointJog::stop_robot_state_

Definition at line 137 of file joint_jog.hpp.

stop_safety_factor_​

double moveit_pro::behaviors::JointJog::stop_safety_factor_ = 1.0

Definition at line 109 of file joint_jog.hpp.

time_last_command_forwarded_​

rclcpp::Time moveit_pro::behaviors::JointJog::time_last_command_forwarded_

Definition at line 121 of file joint_jog.hpp.

time_last_command_processed_​

rclcpp::Time moveit_pro::behaviors::JointJog::time_last_command_processed_

Definition at line 120 of file joint_jog.hpp.

time_last_command_received_​

rclcpp::Time moveit_pro::behaviors::JointJog::time_last_command_received_

Definition at line 119 of file joint_jog.hpp.

Public Static Functions​

metadata()​

BT::KeyValueVector moveit_pro::behaviors::JointJog::metadata ()
 static

Declaration at line 61 of file joint_jog.hpp, definition at line 138 of file joint_jog.cpp.

providedPorts()​

BT::PortsList moveit_pro::behaviors::JointJog::providedPorts ()
 static

Declaration at line 59 of file joint_jog.hpp, definition at line 117 of file joint_jog.cpp.

Public Static Attributes​

kPortIdControllerName​

constexpr auto moveit_pro::behaviors::JointJog::kPortIdControllerName = "controller_name"
 constexpr static

Definition at line 50 of file joint_jog.hpp.

kPortIdIncludeOctomap​

constexpr auto moveit_pro::behaviors::JointJog::kPortIdIncludeOctomap = "include_octomap"
 constexpr static

Definition at line 53 of file joint_jog.hpp.

kPortIdLinkPadding​

constexpr auto moveit_pro::behaviors::JointJog::kPortIdLinkPadding = "link_padding"
 constexpr static

Definition at line 51 of file joint_jog.hpp.

kPortIdSkipCollisionChecks​

constexpr auto moveit_pro::behaviors::JointJog::kPortIdSkipCollisionChecks = "skip_collision_checks"
 constexpr static

Definition at line 54 of file joint_jog.hpp.

kPortIdStopSafetyFactor​

constexpr auto moveit_pro::behaviors::JointJog::kPortIdStopSafetyFactor = "stop_safety_factor"
 constexpr static

Definition at line 52 of file joint_jog.hpp.

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

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