SetupMTCAttachObjectByID Class

Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution. More...

Declaration

class moveit_pro::behaviors::SetupMTCAttachObjectByID { ... }

Included Headers

#include <setup_mtc_attach_object_by_id.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDObjectId = "object_id"
static constexpr auto	kPortIDLinkName = "link_name"
static constexpr auto	kPortIDAllowedCollisionLinks = "allowed_collision_links"
static constexpr auto	kPortIDRelativeTransform = "relative_transform"

Description

Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution.

MTC stage equivalent of AttachObject, taking a plain object_id. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task.

By default the object is attached at its current pose relative to the link. Wire relative_transform (the object origin frame expressed in the link frame, link_T_object) to attach it at a fixed pose instead.

Planning fails when the object is absent from the scene at plan time, or when it is attached to a link other than the requested one. Attaching an object that is already attached to the requested link is a no-op; with relative_transform wired it fails instead, because re-posing an attached object is not supported.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
link_name	Input	std::string
allowed_collision_links	Input	std::vector<std::string>
relative_transform	Input	geometry_msgs::msg::Transform

Definition at line 41 of file setup_mtc_attach_object_by_id.hpp.

Public Constructors

SetupMTCAttachObjectByID()

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

Declaration at line 50 of file setup_mtc_attach_object_by_id.hpp, definition at line 44 of file setup_mtc_attach_object_by_id.cpp.

Public Member Functions

tick()

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

Declaration at line 56 of file setup_mtc_attach_object_by_id.hpp, definition at line 77 of file setup_mtc_attach_object_by_id.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 54 of file setup_mtc_attach_object_by_id.hpp, definition at line 72 of file setup_mtc_attach_object_by_id.cpp.

providedPorts()

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

static

Declaration at line 53 of file setup_mtc_attach_object_by_id.hpp, definition at line 50 of file setup_mtc_attach_object_by_id.cpp.

Public Static Attributes

kPortIDAllowedCollisionLinks

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDAllowedCollisionLinks = "allowed_collision_links"

constexpr static

Definition at line 47 of file setup_mtc_attach_object_by_id.hpp.

kPortIDLinkName

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDLinkName = "link_name"

constexpr static

Definition at line 46 of file setup_mtc_attach_object_by_id.hpp.

kPortIDObjectId

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDObjectId = "object_id"

constexpr static

Definition at line 45 of file setup_mtc_attach_object_by_id.hpp.

kPortIDRelativeTransform

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDRelativeTransform = "relative_transform"

constexpr static

Definition at line 48 of file setup_mtc_attach_object_by_id.hpp.

kPortIDTask

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDTask = "task"

constexpr static

Definition at line 44 of file setup_mtc_attach_object_by_id.hpp.

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

• setup_mtc_attach_object_by_id.hpp
• setup_mtc_attach_object_by_id.cpp

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