Finds well-singulated cuboids supported by a surface within a point cloud. More...

#include <find_singular_cuboids.hpp>

Inheritance diagram for moveit_studio::behaviors::FindSingularCuboids:

Collaboration diagram for moveit_studio::behaviors::FindSingularCuboids:

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

BT::NodeStatus	onStart () override

BT::NodeStatus	onRunning () override

void	onHalted () override

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 ()

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

Detailed Description

Finds well-singulated cuboids supported by a surface within a point cloud.

This behavior makes some assumptions about the environment:

The input point cloud must include a large flat surface, such as a tabletop or floor.
The filtering and cropping steps are expected to remove all points which are far away from this surface.
After filtering, all remaining clusters of points are assumed to be objects which are supported by the surface.

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
parameters	input	YAML::Node
detected_shapes	output	std::vector<moveit_msgs::msg::GraspableObject>

Constructor & Destructor Documentation

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

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

static

void moveit_studio::behaviors::FindSingularCuboids::onHalted ( )

override

BT::NodeStatus moveit_studio::behaviors::FindSingularCuboids::onRunning ( )

override

BT::NodeStatus moveit_studio::behaviors::FindSingularCuboids::onStart ( )

override

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

static

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