Finds objects by segmenting a point cloud using a set of 2D mask images. More...

#include <find_masked_objects.hpp>

Inheritance diagram for moveit_pro::behaviors::FindMaskedObjects:

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Collaboration diagram for moveit_pro::behaviors::FindMaskedObjects:

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

	FindMaskedObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< VisualToolsInterfaceBase > visual_tools)
	Alternate constructor to allow mocking the rviz_visual_tools interface.

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 ()

Detailed Description

Finds objects by segmenting a point cloud using a set of 2D mask images.

The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
camera_info	input	sensor_msgs::msg::CameraInfo
masks2d	input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
base_frame	input	std::string
plane_inlier_threshold	input	double
minimum_face_area	input	double
face_separation_threshold	input	double
detected_shapes	output	std::vector<moveit_msgs::msg::GraspableObject>

Constructor & Destructor Documentation

◆ FindMaskedObjects() [1/2]

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

◆ FindMaskedObjects() [2/2]

moveit_pro::behaviors::FindMaskedObjects::FindMaskedObjects	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< VisualToolsInterfaceBase >	visual_tools
	)

Alternate constructor to allow mocking the rviz_visual_tools interface.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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