Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose. More...

#include <detach_object.hpp>

Inheritance diagram for moveit_pro::behaviors::DetachObject:

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Collaboration diagram for moveit_pro::behaviors::DetachObject:

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

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

	~DetachObject () 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.

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.

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 > &behavior_context)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

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

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDObjectId = "object_id"

static constexpr auto	kPortIDPlanningScene = "planning_scene"

Detailed Description

Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose.

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 a detach diff via the /apply_planning_scene service. The server discovers the parent link, removes the object from the attached objects, and re-adds it to the world at its current pose. 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 robot_state.attached_collision_objects into world.collision_objects, and writes the modified scene back to the same port. No service calls are made.

Succeeds without changes (no-op) when the id is not attached to the robot, whether it is already a free world object or absent from the scene entirely: the detachment intent is already satisfied. Fails only when object_id is empty.

This Behavior detaches objects that were attached via the standard ApplyPlanningScene service. For URDF objects attached via AttachURDF, use DetachURDF instead.

Data Port Name	Port Type	Object Type
object_id	input	std::string
planning_scene	bidirectional	moveit_msgs::msg::PlanningScene

Constructor & Destructor Documentation

◆ DetachObject() [1/2]

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

explicit

◆ DetachObject() [2/2]

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

explicit

◆ ~DetachObject()

moveit_pro::behaviors::DetachObject::~DetachObject ( )

overridedefault

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Member Data Documentation

◆ kPortIDObjectId

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

staticconstexpr

◆ kPortIDPlanningScene

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