moveit_studio::behaviors::JointJog Class Reference

A Behavior to forward JointJog commands to a Joint Velocity Controller. More...

#include <joint_jog.hpp>

Inheritance diagram for moveit_studio::behaviors::JointJog:

Collaboration diagram for moveit_studio::behaviors::JointJog:

Public Member Functions
	JointJog (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override
const planning_scene_monitor::PlanningSceneMonitor &	getPlanningSceneMonitor () const
planning_scene_monitor::PlanningSceneMonitor &	getPlanningSceneMonitor ()
void	setParametersFromJointVelocityController (std::string_view joint_model_group_name, const Eigen::VectorXd &controller_max_joint_acceleration, const Eigen::VectorXd &controller_max_joint_velocity)
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 Attributes
static constexpr auto	kPortIdControllerName = "controller_name"
static constexpr auto	kPortIdLinkPadding = "link_padding"
static constexpr auto	kPortIdStopSafetyFactor = "stop_safety_factor"
static constexpr auto	kPortIdIncludeOctomap = "include_octomap"
static constexpr auto	kPortIdSkipCollisionChecks = "skip_collision_checks"

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

Detailed Description

A Behavior to forward JointJog commands to a Joint Velocity Controller.

This Behavior will subscribe to messages of type control_msgs/JointJog, and forward them to a Joint Velocity Controller for execution. The behavior acts as a bridge, forwarding commands to the controller only if they are 'safe' to execute, i.e. not predicted to cause a collision in the near future, or hit joint limits.

The planning group to control is retrieved from the Joint Velocity Controller's (JVC) parameter server, since each JVC instance is configured to control a specific planning group.

A link padding can be specified to virtually increase the size of the robot links for collision checking. A stop safety factor can be specified to increase the time horizon for the stop trajectory collision check.

Data Port Name	Port Type	Object Type
controller_name	Input	std::string
link_padding	Input	double
stop_safety_factor	Input	double
include_octomap	Input	bool
skip_collision_checks	Input	bool

Constructor & Destructor Documentation

JointJog()

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

Member Function Documentation

getPlanningSceneMonitor() [1/2]

planning_scene_monitor::PlanningSceneMonitor & moveit_studio::behaviors::JointJog::getPlanningSceneMonitor ( )

inline

getPlanningSceneMonitor() [2/2]

const planning_scene_monitor::PlanningSceneMonitor & moveit_studio::behaviors::JointJog::getPlanningSceneMonitor ( ) const

inline

metadata()

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

static

onHalted()

void moveit_studio::behaviors::JointJog::onHalted ( )

override

onRunning()

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

override

onStart()

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

override

providedPorts()

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

static

setParametersFromJointVelocityController()

void moveit_studio::behaviors::JointJog::setParametersFromJointVelocityController	(	std::string_view	joint_model_group_name,
		const Eigen::VectorXd &	controller_max_joint_acceleration,
		const Eigen::VectorXd &	controller_max_joint_velocity
	)

Member Data Documentation

kPortIdControllerName

constexpr auto moveit_studio::behaviors::JointJog::kPortIdControllerName = "controller_name"

staticconstexpr

kPortIdIncludeOctomap

constexpr auto moveit_studio::behaviors::JointJog::kPortIdIncludeOctomap = "include_octomap"

staticconstexpr

kPortIdLinkPadding

constexpr auto moveit_studio::behaviors::JointJog::kPortIdLinkPadding = "link_padding"

staticconstexpr

kPortIdSkipCollisionChecks

constexpr auto moveit_studio::behaviors::JointJog::kPortIdSkipCollisionChecks = "skip_collision_checks"

staticconstexpr

kPortIdStopSafetyFactor

constexpr auto moveit_studio::behaviors::JointJog::kPortIdStopSafetyFactor = "stop_safety_factor"

staticconstexpr

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

• joint_jog.hpp
• joint_jog.cpp