Adds a mesh CollisionObject to the planning scene. More...

#include <add_collision_mesh.hpp>

Inheritance diagram for moveit_pro::behaviors::AddCollisionMesh:

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Collaboration diagram for moveit_pro::behaviors::AddCollisionMesh:

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Public Member Functions
	AddCollisionMesh (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	AddCollisionMesh (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge)

Public Member Functions inherited from moveit_pro::behaviors::AddCollisionObjectBase
	AddCollisionObjectBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	AddCollisionObjectBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge)

	~AddCollisionObjectBase () override=default

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Static Public Member Functions inherited from moveit_pro::behaviors::AddCollisionObjectBase
static BT::PortsList	commonPorts ()
	Returns the input ports owned by this base class: `overwrite` and `planning_scene`. Subclasses concatenate this list into their own `providedPorts()` so every shape-specific Add inherits the same wiring.

Additional Inherited Members
Static Public Attributes inherited from moveit_pro::behaviors::AddCollisionObjectBase
static constexpr auto	kPortIDOverwrite = "overwrite"

static constexpr auto	kPortIDPlanningScene = "planning_scene"

Protected Member Functions inherited from moveit_pro::behaviors::AddCollisionObjectBase
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.

std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Gets the shared future which is used to monitor the progress of the async process.

Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Adds a mesh CollisionObject to the planning scene.

Reads object_id, mesh_file_path, pose, and an optional scale from the input ports. Loads the mesh from the URI, builds a CollisionObject with one mesh shape, and adds it to a planning scene. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to modify a supplied moveit_msgs::msg::PlanningScene message instead; the modified scene is written back to the same port and no services are called. See AddCollisionObjectBase for details on the two modes and the overwrite port semantics.

The scale port defaults to {1.0; 1.0; 1.0} (native size). Wire it to stretch the mesh per-axis in its local frame; values are semicolon-separated, e.g. 2.0;2.0;2.0 to double the mesh uniformly.

Returns FAILURE when object_id is empty, when mesh_file_path is empty, when scale does not contain exactly 3 elements, when any scale component is non-finite or not greater than 0, when pose.header.frame_id is empty, when the mesh resource cannot be loaded, when overwrite=false and a world entry with the same id is already present, when an entry with the same id is currently attached to the robot, or when a required service call fails in live scene mode.

Data Port Name	Port Type	Object Type
object_id	input	std::string
mesh_file_path	input	std::string
pose	input	geometry_msgs::msg::PoseStamped
overwrite	input	bool
planning_scene	bidirectional	moveit_msgs::msg::PlanningScene
scale	input	std::vector<double>

Constructor & Destructor Documentation

◆ AddCollisionMesh() [1/2]

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

explicit

◆ AddCollisionMesh() [2/2]

moveit_pro::behaviors::AddCollisionMesh::AddCollisionMesh	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< PlanningSceneBridge >	bridge
	)

explicit

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions