RemoveURDFFromScene Class

This Behavior removes a URDF object from the planning scene. More...

Declaration

class moveit_pro::behaviors::RemoveURDFFromScene { ... }

Included Headers

#include <remove_urdf_from_scene.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

	RemoveURDFFromScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs a RemoveURDFFromScene behavior node. More...
	RemoveURDFFromScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)
	Constructs a RemoveURDFFromScene 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 removes a URDF object from the planning scene.

The URDF object with the given urdf_name will be removed from the planning scene. Once removed, the object will no longer be able to be attached to the robot until it is added to the planning scene again.

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

Definition at line 24 of file remove_urdf_from_scene.hpp.

Public Constructors

RemoveURDFFromScene()

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

Constructs a RemoveURDFFromScene 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 remove_urdf_from_scene.hpp, definition at line 31 of file remove_urdf_from_scene.cpp.

RemoveURDFFromScene()

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

Constructs a RemoveURDFFromScene 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 remove_urdf_from_scene.hpp, definition at line 45 of file remove_urdf_from_scene.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::RemoveURDFFromScene::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 remove_urdf_from_scene.hpp, definition at line 57 of file remove_urdf_from_scene.cpp.

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

• remove_urdf_from_scene.hpp
• remove_urdf_from_scene.cpp

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