add_virtual_object_to_planning_scene.hpp File Reference

#include <behaviortree_cpp/bt_factory.h>
#include <moveit_pro/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_msgs/srv/apply_planning_scene.hpp>
#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
#include <moveit_studio_vision_msgs/msg/graspable_object.hpp>

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Classes
class	moveit_studio::behaviors::AddVirtualObjectToPlanningScene
	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object can collide with other 'virtual' objects in the planning scene, but not with the robot links, or any other objects that are considered not virtual, e.g. added via AddURDF or ModifyObjectInPlanningScene. More...

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors

Typedefs
using	moveit_studio::behaviors::ApplyPlanningScene = moveit_msgs::srv::ApplyPlanningScene

Functions
moveit_msgs::srv::ApplyPlanningScene::Request	moveit_studio::behaviors::createAddVirtualCollisionObjectToPlanningSceneRequest (const moveit_studio_vision_msgs::msg::GraspableObject &graspable_object, const moveit_msgs::msg::PlanningScene &planning_scene)
	Creates a ApplyPlanningScene::Request for adding a virtual collision object to the planning scene.