Merges a number of input point clouds into a single one. More...

#include <merge_pointclouds.hpp>

Inheritance diagram for moveit_pro::behaviors::MergePointClouds:

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Collaboration diagram for moveit_pro::behaviors::MergePointClouds:

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

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

Merges a number of input point clouds into a single one.

All point clouds must be expressed in the same reference frame. The input point clouds are projected onto a voxel grid with the given resolution. Each voxel produces a point in the output cloud that is the average of all input points projected on that voxel. If align_point_clouds is true, the input clouds are incrementally aligned using the Iterative Closest Point (ICP) algorithm.

Data Port Name	Port Type	Object Type
point_clouds	input	std::vector<sensor_msgs::msg::PointCloud2>
grid_resolution_meters	input	double
align_point_clouds	input	bool
icp_max_iterations	input	int
icp_correspondence_distance	input	double
merged_cloud	output	sensor_msgs::msg::PointCloud2

Constructor & Destructor Documentation

◆ MergePointClouds()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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