Removes a collision object from a planning scene by id. More...

#include <remove_collision_object.hpp>

Inheritance diagram for moveit_pro::behaviors::RemoveCollisionObject:

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Collaboration diagram for moveit_pro::behaviors::RemoveCollisionObject:

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

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

	~RemoveCollisionObject () override=default

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 ()

Static Public Attributes
static constexpr auto	kPortIDObjectId = "object_id"

static constexpr auto	kPortIDPlanningScene = "planning_scene"

Detailed Description

Removes a collision object from a planning scene by id.

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

Live scene mode (port unwired, default): the Behavior fetches the current planning scene from the /get_planning_scene service, validates that the id is in the world and is not attached, then commits a REMOVE diff via the /apply_planning_scene service. Service names are hard-coded; they are not exposed as ports.
Supplied scene mode (port wired): the Behavior reads the moveit_msgs::PlanningScene message supplied on the port, validates the id against that scene, erases the matching entry from world.collision_objects, and writes the modified scene back to the same port. No service calls are made.

Succeeds without changes (no-op) when the id is not present in world.collision_objects: the removal intent is already satisfied. Fails when object_id is empty, or when the id is currently in robot_state.attached_collision_objects. Attached objects must be detached first; the underlying REMOVE operation only affects the world list, so removing an attached id would silently no-op without this check.

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

Constructor & Destructor Documentation

◆ RemoveCollisionObject() [1/2]

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

explicit

◆ RemoveCollisionObject() [2/2]

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

explicit

◆ ~RemoveCollisionObject()

moveit_pro::behaviors::RemoveCollisionObject::~RemoveCollisionObject ( )

overridedefault

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Member Data Documentation

◆ kPortIDObjectId

constexpr auto moveit_pro::behaviors::RemoveCollisionObject::kPortIDObjectId = "object_id"

staticconstexpr

◆ kPortIDPlanningScene

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