Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution. More...

#include <setup_mtc_remove_collision_object.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCRemoveCollisionObject:

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Collaboration diagram for moveit_pro::behaviors::SetupMTCRemoveCollisionObject:

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Public Member Functions
	SetupMTCRemoveCollisionObject (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 > &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	kPortIDTask = "task"

static constexpr auto	kPortIDObjectId = "object_id"

Detailed Description

Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution.

MTC stage equivalent of RemoveCollisionObject. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task. Removing an id that is not present in the world is a no-op; removing an id that is currently attached to the robot fails planning (detach it first). That check runs at plan time against the MTC pipeline scene, not the live scene.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string

Constructor & Destructor Documentation

◆ SetupMTCRemoveCollisionObject()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Member Data Documentation

◆ kPortIDObjectId

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

staticconstexpr

◆ kPortIDTask

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