moveit_pro::behaviors::DetachOrRemoveTool Class Reference

This Behavior sends a request to detach a tool from a robot or remove it from the planning scene. More...

#include <detach_or_remove_tool.hpp>

Inheritance diagram for moveit_pro::behaviors::DetachOrRemoveTool:

Collaboration diagram for moveit_pro::behaviors::DetachOrRemoveTool:

Public Member Functions
	DetachOrRemoveTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	DetachOrRemoveTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)
Public Member Functions inherited from moveit_pro::behaviors::DetachOrRemoveURDF
	DetachOrRemoveURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	DetachOrRemoveURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)
void	setServiceName (std::string service_name)
	Set the service name this Behavior targets. Derived classes call this from their constructor.
Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveURDF >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::DetachOrRemoveURDF > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.
	~ServiceClientBehaviorBase () override=default
virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.
tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.
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.
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 Member Functions inherited from moveit_pro::behaviors::DetachOrRemoveURDF
static BT::PortsList	providedPorts ()

Static Public Attributes
static constexpr auto	kToolNamePort = "tool_name"
static constexpr auto	kDetachToolBehaviorName = "DetachTool"
static constexpr auto	kRemoveToolFromSceneBehaviorName = "RemoveToolFromScene"
Static Public Attributes inherited from moveit_pro::behaviors::DetachOrRemoveURDF
static constexpr auto	kDefaultUrdfNamePort = "urdf_name"
static constexpr auto	kDetachURDFBehaviorName = "DetachURDF"
static constexpr auto	kRemoveURDFFromSceneBehaviorName = "RemoveURDFFromScene"
static constexpr auto	kDetachURDFServiceName = "detach_urdf"
static constexpr auto	kRemoveURDFFromSceneServiceName = "remove_urdf_from_scene"
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveURDF >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Additional Inherited Members
Public Types inherited from moveit_pro::behaviors::DetachOrRemoveURDF
using	DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

Detailed Description

This Behavior sends a request to detach a tool from a robot or remove it from the planning scene.

Deprecated:

This behavior is deprecated. Use DetachURDF or RemoveURDFFromScene instead.

The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.

Data Port Name	Port Type	Object Type
tool_name	input	std::string

Constructor & Destructor Documentation

DetachOrRemoveTool() [1/2]

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

explicit

DetachOrRemoveTool() [2/2]

moveit_pro::behaviors::DetachOrRemoveTool::DetachOrRemoveTool ( const std::string &  name, const BT::NodeConfiguration &  config, const std::shared_ptr< BehaviorContext > &  shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > >  client_interface  )

explicit

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

Member Data Documentation

kDetachToolBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveTool::kDetachToolBehaviorName = "DetachTool"

staticconstexpr

kRemoveToolFromSceneBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveTool::kRemoveToolFromSceneBehaviorName = "RemoveToolFromScene"

staticconstexpr

kToolNamePort

constexpr auto moveit_pro::behaviors::DetachOrRemoveTool::kToolNamePort = "tool_name"

staticconstexpr

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

• detach_or_remove_tool.hpp
• detach_or_remove_tool.cpp