This Behavior sends a request to add a tool to the planning scene as a collision object. More...

#include <add_tool.hpp>

Inheritance diagram for moveit_studio::behaviors::AddTool:

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Collaboration diagram for moveit_studio::behaviors::AddTool:

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

	AddTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AddURDFSrv > > client_interface)

Public Member Functions inherited from moveit_studio::behaviors::AddURDF
	AddURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	AddURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AddURDFSrv > > client_interface)

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddURDF >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::AddURDF > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ServiceClientBehaviorBase ()=default

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=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_studio::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 Member Functions inherited from moveit_studio::behaviors::AddURDF
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kToolNamePort = "tool_name"

static constexpr auto	kPackageNamePort = "package_name"

static constexpr auto	kToolUrdfFilePort = "tool_urdf_file_path"

static constexpr auto	kToolPosePort = "relative_pose"

Static Public Attributes inherited from moveit_studio::behaviors::AddURDF
static constexpr auto	kDefaultUrdfNamePort = "urdf_name"

static constexpr auto	kDefaultPackageNamePort = "package_name"

static constexpr auto	kDefaultUrdfFilePathPort = "urdf_file_path"

static constexpr auto	kDefaultUrdfPosePort = "urdf_pose"

static constexpr auto	kColorNamePort = "urdf_color"

Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddURDF >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions
std::string	getUrdfNamePort () const override

std::string	getPackageNamePort () const override

std::string	getUrdfFilePathPort () const override

std::string	getUrdfPosePort () const override

Protected Member Functions inherited from moveit_studio::behaviors::AddURDF
virtual std::string	getColorPort () const

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddURDF >
virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Additional Inherited Members
Public Types inherited from moveit_studio::behaviors::AddURDF
using	AddURDFSrv = moveit_studio_agent_msgs::srv::AddURDF

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

Detailed Description

This Behavior sends a request to add a tool to the planning scene as a collision object.

Deprecated:: This behavior is deprecated. Use AddURDF instead.

The tool is added to the planning scene at the specified pose. The tool is given as a URDF file, which describes the kinematics and collision geometry.

See also AttachTool for attaching a tool.

Data Port Name	Port Type	Object Type
tool_name	input	std::string
package_name	input	std::string
tool_urdf_file	input	std::string
tool_pose	input	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ AddTool() [1/2]

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

explicit

◆ AddTool() [2/2]

moveit_studio::behaviors::AddTool::AddTool	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< AddURDFSrv > >	client_interface
	)

explicit

Member Function Documentation

◆ getPackageNamePort()

std::string moveit_studio::behaviors::AddTool::getPackageNamePort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AddURDF.

◆ getUrdfFilePathPort()

std::string moveit_studio::behaviors::AddTool::getUrdfFilePathPort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AddURDF.

◆ getUrdfNamePort()

std::string moveit_studio::behaviors::AddTool::getUrdfNamePort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AddURDF.

◆ getUrdfPosePort()

std::string moveit_studio::behaviors::AddTool::getUrdfPosePort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AddURDF.

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::AddTool::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::AddTool::providedPorts ( )

static

Member Data Documentation

◆ kPackageNamePort

constexpr auto moveit_studio::behaviors::AddTool::kPackageNamePort = "package_name"

staticconstexpr

◆ kToolNamePort

constexpr auto moveit_studio::behaviors::AddTool::kToolNamePort = "tool_name"

staticconstexpr

◆ kToolPosePort

constexpr auto moveit_studio::behaviors::AddTool::kToolPosePort = "relative_pose"

staticconstexpr

◆ kToolUrdfFilePort

constexpr auto moveit_studio::behaviors::AddTool::kToolUrdfFilePort = "tool_urdf_file_path"

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddTool() [1/2]

◆ AddTool() [2/2]

Member Function Documentation

◆ getPackageNamePort()

◆ getUrdfFilePathPort()

◆ getUrdfNamePort()

◆ getUrdfPosePort()

◆ metadata()

◆ providedPorts()

Member Data Documentation

◆ kPackageNamePort

◆ kToolNamePort

◆ kToolPosePort

◆ kToolUrdfFilePort