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:

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Collaboration diagram for moveit_studio::behaviors::AttachTool:

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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< AttachURDFSrv > > client_interface)

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

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

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
	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::AttachURDF > > 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::AttachURDF
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kToolNamePort = "tool_name"

static constexpr auto	kParentLinkNamePort = "parent_link_name"

static constexpr auto	kAllowedCollisionLinksPort = "allowed_collision_links"

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

static constexpr auto	kDefaultParentLinkNamePort = "parent_link_name"

static constexpr auto	kDefaultAllowedCollisionLinksPort = "allowed_collision_links"

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

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

std::string	getParentLinkNamePort () const override

std::string	getAllowedCollisionLinksPort () const override

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachURDF >
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::AttachURDF
using	AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF

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.

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

The tool must first be added to the planning scene before it can be attached. It is attached to the robot at the specified link at the relative pose between the link and the tool collision object. 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
parent_link_name	input	std::string
allowed_collision_links	input	std::vector<std::string>

Constructor & Destructor Documentation

◆ AttachTool() [1/2]

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

explicit

◆ AttachTool() [2/2]

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

explicit

Member Function Documentation

◆ getAllowedCollisionLinksPort()

std::string moveit_studio::behaviors::AttachTool::getAllowedCollisionLinksPort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AttachURDF.

◆ getParentLinkNamePort()

std::string moveit_studio::behaviors::AttachTool::getParentLinkNamePort ( ) const

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AttachURDF.

◆ getUrdfNamePort()

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

inlineoverrideprotectedvirtual

Reimplemented from moveit_studio::behaviors::AttachURDF.

◆ metadata()

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

static

◆ providedPorts()

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

static

Member Data Documentation

◆ kAllowedCollisionLinksPort

constexpr auto moveit_studio::behaviors::AttachTool::kAllowedCollisionLinksPort = "allowed_collision_links"

staticconstexpr

◆ kParentLinkNamePort

constexpr auto moveit_studio::behaviors::AttachTool::kParentLinkNamePort = "parent_link_name"

staticconstexpr

◆ kToolNamePort

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

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

◆ AttachTool() [1/2]

◆ AttachTool() [2/2]

Member Function Documentation

◆ getAllowedCollisionLinksPort()

◆ getParentLinkNamePort()

◆ getUrdfNamePort()

◆ metadata()

◆ providedPorts()

Member Data Documentation

◆ kAllowedCollisionLinksPort

◆ kParentLinkNamePort

◆ kToolNamePort