This Behavior detaches a URDF object from the robot. More...

#include <detach_urdf.hpp>

Inheritance diagram for moveit_studio::behaviors::DetachURDF:

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Collaboration diagram for moveit_studio::behaviors::DetachURDF:

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Public Member Functions
	DetachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs a DetachURDF behavior node.

	DetachURDF (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveURDFSrv > > client_interface)
	Constructs a DetachURDF behavior node with a custom service client.

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

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

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveURDF >
	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::DetachOrRemoveURDF > > 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::KeyValueVector	metadata ()
	Provides metadata for UI display and behavior categorization.

Static Public Member Functions inherited from moveit_studio::behaviors::DetachOrRemoveURDF
static BT::PortsList	providedPorts ()

Additional Inherited Members
Public Types inherited from moveit_studio::behaviors::DetachOrRemoveURDF
using	DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF

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

static constexpr auto	kDetachURDFBehaviorName = "DetachURDF"

static constexpr auto	kRemoveURDFFromSceneBehaviorName = "RemoveURDFFromScene"

static constexpr auto	kDetachURDFServiceName = "detach_urdf"

static constexpr auto	kRemoveURDFFromSceneServiceName = "remove_urdf_from_scene"

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

Protected Member Functions inherited from moveit_studio::behaviors::DetachOrRemoveURDF
virtual std::string	getUrdfNamePort () const

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveURDF >
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

This Behavior detaches a URDF object from the robot.

The URDF object with the given urdf_name will be detached from the robot. Once detached, the object will no longer move with the robot and will not be considered in motion planning calculations.

Data Port Name	Port Type	Object Type
urdf_name	input	std::string

Constructor & Destructor Documentation

◆ DetachURDF() [1/2]

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

Constructs a DetachURDF behavior node.

Parameters

name	The unique identifier for this node instance in the behavior tree.
config	Configuration object containing input/output port bindings and blackboard access.
shared_resources	Provides access to MoveIt planning scene, robot model, and ROS node interfaces.

◆ DetachURDF() [2/2]

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

Constructs a DetachURDF behavior node with a custom service client.

Parameters

name	The unique identifier for this node instance in the behavior tree.
config	Configuration object containing input/output port bindings and blackboard access.
shared_resources	Provides access to MoveIt planning scene, robot model, and ROS node interfaces.
client_interface	Custom or mock service client implementation, typically used for unit testing.

Member Function Documentation

◆ metadata()

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

static

Provides metadata for UI display and behavior categorization.

Returns: Key-value pairs defining the behavior's subcategory and description for the palette.

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

Public Member Functions