moveit_studio::behaviors::AddTool Class Reference

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:

Collaboration diagram for moveit_studio::behaviors::AddTool:

Public Types
using	AddToolSrv = moveit_studio_agent_msgs::srv::AddTool

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< AddToolSrv >> client_interface)
Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddTool >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface. More...
	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::AddTool >> client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase. More...
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(). More...
BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning(). More...
void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted(). More...
void	resetStatus ()
	Resets the internal status of this node. More...
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. More...

Static Public Member Functions
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::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddTool >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddTool >
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. More...
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished. More...
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.

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

Member Typedef Documentation

AddToolSrv

using moveit_studio::behaviors::AddTool::AddToolSrv = moveit_studio_agent_msgs::srv::AddTool

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< AddToolSrv >>  client_interface  )

explicit

Member Function Documentation

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

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

• add_tool.hpp
• add_tool.cpp