Public Types |
Public Member Functions |
Static Public Member Functions |
Static Public Attributes |
List of all members
moveit_studio::behaviors::AttachTool Class Referencefinal
This Behavior sends a request to attach a tool to a robot for motion planning purposes. More...
#include <attach_tool.hpp>
Inheritance diagram for moveit_studio::behaviors::AttachTool:
Collaboration diagram for moveit_studio::behaviors::AttachTool:
Public Types | |
| using | AttachToolSrv = moveit_studio_agent_msgs::srv::AttachTool |
Public Member Functions | |
| AttachTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| AttachTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< AttachToolSrv >> client_interface) | |
 Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachTool > | |
| 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::AttachTool >> 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 | kToolUrdfFilePort = "tool_urdf_file" |
| static constexpr auto | kParentLinkNamePort = "parent_link_name" |
| static constexpr auto | kRelativePosePort = "relative_pose" |
| static constexpr auto | kAllowedCollisionLinksPort = "allowed_collision_links" |
| Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachTool > | |
| static constexpr std::chrono::seconds | kTimeoutWaitForServiceServer |
Additional Inherited Members | |
| Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachTool > | |
| 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 attach a tool to a robot for motion planning purposes.
The tool is attached to the robot at the specified link and relative pose. The tool is given as a URDF file, which describes the kinematics and collision geometry. Once attached, the tool will move with the link it is attached to. If the tool contains joints and those are reported in the /joint_states topic, the tool collision shapes will update their state accordingly. If the tool is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port.
See also DetachTool for detaching a tool.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| tool_name | input | std::string |
| tool_urdf_file | input | std::string |
| parent_link_name | input | std::string |
| relative_pose | input | geometry_msgs::msg::PoseStamped |
| allowed_collision_links | input | std::vector<std::string> |
Member Typedef Documentation
◆ AttachToolSrv
| using moveit_studio::behaviors::AttachTool::AttachToolSrv = moveit_studio_agent_msgs::srv::AttachTool |
Constructor & Destructor Documentation
◆ AttachTool() [1/2]
|
explicit |
◆ AttachTool() [2/2]
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explicit |
Member Function Documentation
◆ metadata()
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static |
◆ providedPorts()
|
static |
Member Data Documentation
◆ kAllowedCollisionLinksPort
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staticconstexpr |
◆ kParentLinkNamePort
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staticconstexpr |
◆ kRelativePosePort
|
staticconstexpr |
◆ kToolNamePort
|
staticconstexpr |
◆ kToolUrdfFilePort
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staticconstexpr |
The documentation for this class was generated from the following files:
