Transform a point cloud to the "world" frame and publish it as PCD to a topic the UI visualizes. More...

#include <send_point_cloud_to_ui.hpp>

Inheritance diagram for moveit_pro::behaviors::SendPointCloudToUI:

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Collaboration diagram for moveit_pro::behaviors::SendPointCloudToUI:

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Public Member Functions
	SendPointCloudToUI (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new SendPointCloudToUI Behavior.

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 ()
	Returns list of ports for this behavior.

static BT::KeyValueVector	metadata ()

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

Transform a point cloud to the "world" frame and publish it as PCD to a topic the UI visualizes.

Removes NaN points, transforms the cloud to the "world" frame (required by the MoveIt Pro web app), converts it to binary compressed PCD, and publishes it for the UI to render.

The publisher uses latched (transient_local), reliable QoS and is kept alive across ticks so the most recent cloud is delivered to the UI whenever foxglove_bridge subscribes — including a UI that connects or reconnects after the capture.

Data Port Name	Port Type	Object Type
point_cloud	Input	sensor_msgs::msg::PointCloud2
pcd_topic	Input	std::string
use_latest_transform	Input	bool

Constructor & Destructor Documentation

◆ SendPointCloudToUI()

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

explicit

Construct a new SendPointCloudToUI Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Returns list of ports for this behavior.

Inputs to this behavior are: the point cloud, sensor_name, an optional point cloud uuid, and the name of the topic to publish the result.

Returns: BT::PortsList The list of I/O Ports

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

Public Member Functions