Updates the reference pose of an existing CollisionObject in the planning scene. More...

#include <move_collision_object.hpp>

Inheritance diagram for moveit_pro::behaviors::MoveCollisionObject:

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Collaboration diagram for moveit_pro::behaviors::MoveCollisionObject:

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

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

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.

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

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

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDPlanningScene = "planning_scene"

Additional Inherited Members
Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
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.

Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Updates the reference pose of an existing CollisionObject in the planning scene.

Replaces the remove-and-re-add workaround for repositioning collision objects. The Behavior emits a CollisionObject::MOVE so all child shapes (primitives, meshes, planes) follow the new reference pose without any per-shape pose updates and without a transient gap in collision checking.

The Behavior has two operating modes selected by the planning_scene input port:

Live scene mode (port unwired): the Behavior fetches the current planning scene from the /get_planning_scene service to verify the object exists and is not currently attached, then commits a MOVE diff to the /apply_planning_scene service. Service names are hard-coded; they are not exposed as ports. The new pose may be in any frame — the planning scene resolves it via TF.
Supplied scene mode (port wired): the Behavior locates the existing entry by id in world.collision_objects, updates its pose field in place, and writes the modified scene back to the same port. No service calls are made. The supplied pose must be in the same frame as the existing entry's header.frame_id; the Behavior fails otherwise, because mutating the reference pose without transforming the shape poses would leave the entry self-inconsistent.

Returns FAILURE when object_id is empty, when pose.header.frame_id is empty, when no world entry with the given id exists, when an entry with the same id is currently attached to the robot (MOVE for attached objects is not supported; the caller must detach first), when the supplied scene's matching entry is in a different frame than the input pose, or when a required service call fails in live scene mode.

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

Constructor & Destructor Documentation

◆ MoveCollisionObject() [1/2]

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

explicit

◆ MoveCollisionObject() [2/2]

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

explicit

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Member Data Documentation

◆ kPortIDPlanningScene

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

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members