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

#include <add_urdf.hpp>

Inheritance diagram for moveit_studio::behaviors::AddURDF:

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Collaboration diagram for moveit_studio::behaviors::AddURDF:

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Public Types
using	AddURDFSrv = moveit_studio_agent_msgs::srv::AddURDF

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

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

virtual std::string	getPackageNamePort () const

virtual std::string	getUrdfFilePathPort () const

virtual std::string	getUrdfPosePort () 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.

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
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 URDF object to the planning scene as a collision object.

The object is added to the planning scene at the specified pose. The object is given as a URDF file, which describes the kinematics and collision geometry. If the URDF contains joints and those are reported in the /joint_states topic, the object collision shapes will update their state accordingly.

See also AttachURDF for attaching a URDF object to the robot.

Data Port Name	Port Type	Object Type
urdf_name	input	std::string
package_name	input	std::string
urdf_file_path	input	std::string
urdf_pose	input	geometry_msgs::msg::PoseStamped

Member Typedef Documentation

◆ AddURDFSrv

using moveit_studio::behaviors::AddURDF::AddURDFSrv = moveit_studio_agent_msgs::srv::AddURDF

Constructor & Destructor Documentation

◆ AddURDF() [1/2]

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

explicit

◆ AddURDF() [2/2]

moveit_studio::behaviors::AddURDF::AddURDF	(	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()

virtual std::string moveit_studio::behaviors::AddURDF::getPackageNamePort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AddTool.

◆ getUrdfFilePathPort()

virtual std::string moveit_studio::behaviors::AddURDF::getUrdfFilePathPort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AddTool.

◆ getUrdfNamePort()

virtual std::string moveit_studio::behaviors::AddURDF::getUrdfNamePort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AddTool.

◆ getUrdfPosePort()

virtual std::string moveit_studio::behaviors::AddURDF::getUrdfPosePort ( ) const

inlineprotectedvirtual

Reimplemented in moveit_studio::behaviors::AddTool.

◆ metadata()

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

static

◆ providedPorts()

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

static

Member Data Documentation

◆ kDefaultPackageNamePort

constexpr auto moveit_studio::behaviors::AddURDF::kDefaultPackageNamePort = "package_name"

staticconstexpr

◆ kDefaultUrdfFilePathPort

constexpr auto moveit_studio::behaviors::AddURDF::kDefaultUrdfFilePathPort = "urdf_file_path"

staticconstexpr

◆ kDefaultUrdfNamePort

constexpr auto moveit_studio::behaviors::AddURDF::kDefaultUrdfNamePort = "urdf_name"

staticconstexpr

◆ kDefaultUrdfPosePort

constexpr auto moveit_studio::behaviors::AddURDF::kDefaultUrdfPosePort = "urdf_pose"

staticconstexpr

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AddURDFSrv

Constructor & Destructor Documentation

◆ AddURDF() [1/2]

◆ AddURDF() [2/2]

Member Function Documentation

◆ getPackageNamePort()

◆ getUrdfFilePathPort()

◆ getUrdfNamePort()

◆ getUrdfPosePort()

◆ metadata()

◆ providedPorts()

Member Data Documentation

◆ kDefaultPackageNamePort

◆ kDefaultUrdfFilePathPort

◆ kDefaultUrdfNamePort

◆ kDefaultUrdfPosePort