moveit_pro::behaviors::DetachOrRemoveURDF Class Reference

Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene. More...

#include <detach_or_remove_urdf.hpp>

Inheritance diagram for moveit_pro::behaviors::DetachOrRemoveURDF:

Collaboration diagram for moveit_pro::behaviors::DetachOrRemoveURDF:

Public Types
using	DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

Public Member Functions
	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)
virtual std::string	getUrdfNamePort () const
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 Public Attributes
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

Detailed Description

Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene.

This is a base class used by DetachURDF and RemoveURDFFromScene behaviors. Derived classes call setServiceName() in their constructors to select the appropriate service.

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

Member Typedef Documentation

DetachOrRemoveURDFSrv

using moveit_pro::behaviors::DetachOrRemoveURDF::DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

Constructor & Destructor Documentation

DetachOrRemoveURDF() [1/2]

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

explicit

DetachOrRemoveURDF() [2/2]

moveit_pro::behaviors::DetachOrRemoveURDF::DetachOrRemoveURDF ( 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

getUrdfNamePort()

virtual std::string moveit_pro::behaviors::DetachOrRemoveURDF::getUrdfNamePort ( ) const

inlinevirtual

providedPorts()

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

static

setServiceName()

void moveit_pro::behaviors::DetachOrRemoveURDF::setServiceName ( std::string  service_name )

inline

Set the service name this Behavior targets. Derived classes call this from their constructor.

Member Data Documentation

kDefaultUrdfNamePort

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDefaultUrdfNamePort = "urdf_name"

staticconstexpr

kDetachURDFBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDetachURDFBehaviorName = "DetachURDF"

staticconstexpr

kDetachURDFServiceName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kDetachURDFServiceName = "detach_urdf"

staticconstexpr

kRemoveURDFFromSceneBehaviorName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kRemoveURDFFromSceneBehaviorName = "RemoveURDFFromScene"

staticconstexpr

kRemoveURDFFromSceneServiceName

constexpr auto moveit_pro::behaviors::DetachOrRemoveURDF::kRemoveURDFFromSceneServiceName = "remove_urdf_from_scene"

staticconstexpr

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

• detach_or_remove_urdf.hpp
• detach_or_remove_urdf.cpp