RecordSurfaceCoverage Class

Paint the part of a target surface a tool just treated, and add it to the coverage recorded so far. More...

Declaration

class moveit_pro::behaviors::RecordSurfaceCoverage { ... }

Included Headers

#include <record_surface_coverage.hpp>

Base class

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

Public Constructors Index

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

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	Reads the ports, brings the tool path into the target cloud's frame, selects and paints the covered points, and merges them with the coverage recorded so far. More...
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_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More...

Public Static Functions Index

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

Description

Paint the part of a target surface a tool just treated, and add it to the coverage recorded so far.

Takes the tool poses that were executed (for example the coverage_path a Cartesian plan followed) and the point cloud representing the target, marks every target point the tool's footprint reached, and returns those points in a single solid color. Feeding the previous result back in through previous_coverage accumulates a treatment history across sweeps; publishing that history with SendPointCloudToUI paints it over the target in the 3D view.

The footprint is a cylinder of footprint_radius about the tool +Z axis reaching out to footprint_range, which matches the tool frame GenerateSurfaceCoveragePath emits: +Z points into the surface, so footprint_range must exceed the standoff the sweep was planned with.

The result is expressed in output_frame_id — a frame that holds still relative to the target, so the history stays aligned as the robot and its cameras move. Both the tool path and the target cloud are placed using the transform at the cloud's timestamp, so a cloud whose frame moves must be recorded before it ages out of the transform buffer; use_latest_transform is the escape hatch when the cloud's frame is in fact static. Both the newly covered points and previous_coverage are merged onto a voxel grid of merge_voxel_size, which is what keeps a long treatment history from growing without bound as sweeps overlap. The merge averages the points that share a voxel, colors included, so sweeps recorded with different treated_color values blend where they overlap.

Data Port Name	Port Type	Object Type
target_cloud	input	sensor_msgs::msg::PointCloud2
tool_path	input	std::vector<geometry_msgs::msg::PoseStamped>
footprint_radius	input	double
footprint_range	input	double
treated_color	input	std::vector<int>
output_frame_id	input	std::string
merge_voxel_size	input	double
use_latest_transform	input	bool
previous_coverage	input	sensor_msgs::msg::PointCloud2
coverage_cloud	output	sensor_msgs::msg::PointCloud2

Definition at line 54 of file record_surface_coverage.hpp.

Public Constructors

RecordSurfaceCoverage()

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

Declaration at line 57 of file record_surface_coverage.hpp, definition at line 196 of file record_surface_coverage.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::RecordSurfaceCoverage::doWork ()

virtual

Reads the ports, brings the tool path into the target cloud's frame, selects and paints the covered points, and merges them with the coverage recorded so far.

Returns

True once the output port holds the accumulated coverage, or an error message.

Declaration at line 70 of file record_surface_coverage.hpp, definition at line 252 of file record_surface_coverage.cpp.

getFuture()

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

inline virtual

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

Definition at line 73 of file record_surface_coverage.hpp.

Private Member Attributes

future_

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

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 79 of file record_surface_coverage.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 62 of file record_surface_coverage.hpp, definition at line 246 of file record_surface_coverage.cpp.

providedPorts()

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

static

Declaration at line 60 of file record_surface_coverage.hpp, definition at line 202 of file record_surface_coverage.cpp.

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

• record_surface_coverage.hpp
• record_surface_coverage.cpp

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