moveit_pro::behaviors::AttachObject Class Reference

Attaches a collision object that is already in the planning scene to a robot link. More...

#include <attach_object.hpp>

Inheritance diagram for moveit_pro::behaviors::AttachObject:

Collaboration diagram for moveit_pro::behaviors::AttachObject:

Public Member Functions
	AttachObject (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	AttachObject (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< PlanningSceneBridge > bridge)
	~AttachObject () 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 Attributes
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"
static constexpr auto	kPortIDPlanningScene = "planning_scene"

Additional Inherited Members
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

Attaches a collision object that is already in the planning scene to a robot link.

Works for collision objects in the world. For URDF objects, use AttachURDF instead.

The Behavior has two operating modes selected by the planning_scene input port:

• Live scene mode (port unwired, default): the Behavior fetches the current planning scene from the /get_planning_scene service, then commits an attach diff via the /apply_planning_scene service. The server moves the object from the world to the requested link, reusing the object's existing geometry. Service names are hard-coded; they are not exposed as ports.
• Supplied scene mode (port wired): the Behavior reads the moveit_msgs::PlanningScene message supplied on the port, moves the matching entry from world.collision_objects into robot_state.attached_collision_objects with the requested link and allowed collision links, and writes the modified scene back to the same port. No service calls are made.

By default the object keeps its current pose relative to the link. Wire the optional relative_transform port to instead attach the object at a chosen transform link_T_object, regardless of where the object currently is. When relative_transform is wired and the id is already attached to link_name, the object is re-posed to the requested transform (and its allowed collision links are refreshed from allowed_collision_links) rather than treated as a no-op.

Succeeds without changes (no-op) when the id is already attached to link_name and no relative_transform is requested: the attachment intent is already satisfied. Fails when object_id or link_name is empty, when the id is absent from the scene, or when the id is attached to a different link.

Data Port Name	Port Type	Object Type
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
planning_scene	bidirectional	moveit_msgs::msg::PlanningScene

Constructor & Destructor Documentation

AttachObject() [1/2]

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

explicit

AttachObject() [2/2]

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

explicit

~AttachObject()

moveit_pro::behaviors::AttachObject::~AttachObject ( )

overridedefault

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

Member Data Documentation

kPortIDAllowedCollisionLinks

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

staticconstexpr

kPortIDLinkName

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

staticconstexpr

kPortIDObjectId

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

staticconstexpr

kPortIDPlanningScene

constexpr auto moveit_pro::behaviors::AttachObject::kPortIDPlanningScene = "planning_scene"

staticconstexpr

kPortIDRelativeTransform

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

staticconstexpr

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

• attach_object.hpp
• attach_object.cpp