moveit_studio::behaviors::GenerateVacuumGraspPoses Class Reference

Given a target GraspableObject and planning details about the arm, generate grasp poses. More...

#include <generate_vacuum_grasp_poses.hpp>

Inheritance diagram for moveit_studio::behaviors::GenerateVacuumGraspPoses:

Collaboration diagram for moveit_studio::behaviors::GenerateVacuumGraspPoses:

Public Member Functions
	GenerateVacuumGraspPoses (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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 Attributes
static constexpr auto	kPortIDTargetObject = "target_object"
static constexpr auto	kPortIDPlanningSceneMsg = "planning_scene_msg"
static constexpr auto	kPortIDEndEffectorGroupName = "end_effector_group_name"
static constexpr auto	kPortIDUIGraspFrameName = "ui_grasp_link"
static constexpr auto	kPortIDGenerateCentroidGrasps = "generate_centroid_grasps"
static constexpr auto	kPortIDPaddingDimension = "padding_dimension"
static constexpr auto	kPortIDSamplesPerPlane = "samples_per_plane"
static constexpr auto	kPortIDNumOrientationSamples = "num_orientation_samples"
static constexpr auto	kPortIDEEToTCPTransform = "ee_to_tcp_tf"
static constexpr auto	kPortIDGraspPoses = "grasp_poses"

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

Detailed Description

Given a target GraspableObject and planning details about the arm, generate grasp poses.

Data Port Name	Port Type	Object Type	Description
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject	Cuboid object to grasp, represented as a moveit_studio_vision_msgs/GraspableObject.
planning_scene	Input	moveit_msgs::msg::PlanningScene	Planning scene message.
end_effector_group_name	Input	std::string	Name of the end effector group.
ui_grasp_frame_name	Input	std::string	Name of the UI grasp frame link.
generate_centroid_grasps	Input	bool	If true, generate grasps at the centroid of each surface.
padding_dimension	Input	double	Padding on planar faces to avoid sampling on edges.
samples_per_plane	Input	int	Number of samples per plane for grasp generation.
num_orientation_samples	Input	int	Number of orientation samples for grasp generation.
ee_to_tcp_transform	Input	geometry_msgs::msg::PoseStamped	Transform from the end effector to the tool center point provided as a PoseStamped msg.
grasp_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>	Generated grasp poses.

Constructor & Destructor Documentation

GenerateVacuumGraspPoses()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

BT::NodeStatus moveit_studio::behaviors::GenerateVacuumGraspPoses::tick ( )

override

Member Data Documentation

kPortIDEEToTCPTransform

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDEEToTCPTransform = "ee_to_tcp_tf"

staticconstexpr

kPortIDEndEffectorGroupName

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDEndEffectorGroupName = "end_effector_group_name"

staticconstexpr

kPortIDGenerateCentroidGrasps

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDGenerateCentroidGrasps = "generate_centroid_grasps"

staticconstexpr

kPortIDGraspPoses

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDGraspPoses = "grasp_poses"

staticconstexpr

kPortIDNumOrientationSamples

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDNumOrientationSamples = "num_orientation_samples"

staticconstexpr

kPortIDPaddingDimension

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDPaddingDimension = "padding_dimension"

staticconstexpr

kPortIDPlanningSceneMsg

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDPlanningSceneMsg = "planning_scene_msg"

staticconstexpr

kPortIDSamplesPerPlane

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDSamplesPerPlane = "samples_per_plane"

staticconstexpr

kPortIDTargetObject

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDTargetObject = "target_object"

staticconstexpr

kPortIDUIGraspFrameName

constexpr auto moveit_studio::behaviors::GenerateVacuumGraspPoses::kPortIDUIGraspFrameName = "ui_grasp_link"

staticconstexpr

---

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

• generate_vacuum_grasp_poses.hpp
• generate_vacuum_grasp_poses.cpp