Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object can collide with other 'virtual' objects in the planning scene, but not with the robot links, or any other objects that are considered not virtual, e.g. added via AddURDF or ModifyObjectInPlanningScene. More...

#include <add_virtual_object_to_planning_scene.hpp>

Inheritance diagram for moveit_studio::behaviors::AddVirtualObjectToPlanningScene:

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Collaboration diagram for moveit_studio::behaviors::AddVirtualObjectToPlanningScene:

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Public Member Functions
	AddVirtualObjectToPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the AddVirtualObjectToPlanningScene behavior.

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

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
	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< ApplyPlanningScene > > 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 ()

Additional Inherited Members
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
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.

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

Detailed Description

Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object can collide with other 'virtual' objects in the planning scene, but not with the robot links, or any other objects that are considered not virtual, e.g. added via AddURDF or ModifyObjectInPlanningScene.

Data Port Name	Port Type	Object Type
object	Input	moveit_studio_vision_msgs::msg::GraspableObject
planning_scene_msg	Input	moveit_msgs::msg::PlanningScene
apply_planning_scene_service	Input	std::string

Constructor & Destructor Documentation

◆ AddVirtualObjectToPlanningScene() [1/2]

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

explicit

Constructor for the AddVirtualObjectToPlanningScene behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

◆ AddVirtualObjectToPlanningScene() [2/2]

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

explicit

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions