Finds objects by segmenting a point cloud using a set of 2D mask images. More...

#include <find_masked_objects.hpp>

Inheritance diagram for moveit_studio::behaviors::FindMaskedObjects:

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Collaboration diagram for moveit_studio::behaviors::FindMaskedObjects:

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Public Member Functions
	FindMaskedObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	FindMaskedObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< VisualToolsInterfaceBase > visual_tools)
	Alternate constructor to allow mocking the rviz_visual_tools interface.

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 ()

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

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

Finds objects by segmenting a point cloud using a set of 2D mask images.

The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
camera_info	input	sensor_msgs::msg::CameraInfo
masks2d	input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
base_frame	input	std::string
plane_inlier_threshold	input	double
minimum_face_area	input	double
face_separation_threshold	input	double
detected_shapes	output	std::vector<moveit_msgs::msg::GraspableObject>

Constructor & Destructor Documentation

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

moveit_studio::behaviors::FindMaskedObjects::FindMaskedObjects	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< VisualToolsInterfaceBase >	visual_tools
	)

Alternate constructor to allow mocking the rviz_visual_tools interface.

tl::expected< bool, std::string > moveit_studio::behaviors::FindMaskedObjects::doWork ( )

overrideprotectedvirtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns: A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

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

static

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

static

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