Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port. More...

#include <load_pointcloud_from_file.hpp>

Inheritance diagram for moveit_studio::behaviors::LoadPointCloudFromFile:

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Collaboration diagram for moveit_studio::behaviors::LoadPointCloudFromFile:

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

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 ()

Additional Inherited Members
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.

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

Detailed Description

Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port.

The scale, num_sampled_points, and random_seed variables are used only when reading an .stl file, since these parameters control sampling the point cloud from a mesh.

Data Port Name	Port Type	Object Type
package_name	input	std::string
file_path	input	std::string
frame_id	input	std::string
scale	input	float
num_sampled_points	input	size_t
random_seed	input	size_t
color	input	std::vector<uint8_t>
point_cloud	output	sensor_msgs::msg::PointCloud2

Constructor & Destructor Documentation

◆ LoadPointCloudFromFile()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions