moveit_pro::behaviors::SetupMTCAttachObjectByID Class Reference

Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution. More...

#include <setup_mtc_attach_object_by_id.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCAttachObjectByID:

Collaboration diagram for moveit_pro::behaviors::SetupMTCAttachObjectByID:

Public Member Functions
	SetupMTCAttachObjectByID (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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	kPortIDTask = "task"
static constexpr auto	kPortIDObjectId = "object_id"
static constexpr auto	kPortIDLinkName = "link_name"
static constexpr auto	kPortIDAllowedCollisionLinks = "allowed_collision_links"
static constexpr auto	kPortIDRelativeTransform = "relative_transform"

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution.

MTC stage equivalent of AttachObject, taking a plain object_id. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task.

By default the object is attached at its current pose relative to the link. Wire relative_transform (the object origin frame expressed in the link frame, link_T_object) to attach it at a fixed pose instead. The object must be a world collision object in the scene when the task is planned, or planning fails; an object that is already attached is not re-posed.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
link_name	Input	std::string
allowed_collision_links	Input	std::vector<std::string>
relative_transform	Input	geometry_msgs::msg::Transform

Constructor & Destructor Documentation

SetupMTCAttachObjectByID()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

BT::NodeStatus moveit_pro::behaviors::SetupMTCAttachObjectByID::tick ( )

override

Member Data Documentation

kPortIDAllowedCollisionLinks

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDAllowedCollisionLinks = "allowed_collision_links"

staticconstexpr

kPortIDLinkName

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDLinkName = "link_name"

staticconstexpr

kPortIDObjectId

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

staticconstexpr

kPortIDRelativeTransform

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDRelativeTransform = "relative_transform"

staticconstexpr

kPortIDTask

constexpr auto moveit_pro::behaviors::SetupMTCAttachObjectByID::kPortIDTask = "task"

staticconstexpr

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

• setup_mtc_attach_object_by_id.hpp
• setup_mtc_attach_object_by_id.cpp