Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene. More...

#include <modify_object_in_planning_scene.hpp>

Inheritance diagram for moveit_studio::behaviors::ModifyObjectInPlanningScene:

[legend]

Collaboration diagram for moveit_studio::behaviors::ModifyObjectInPlanningScene:

[legend]

Public Member Functions
	ModifyObjectInPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the ModifyObjectInPlanningScene behavior.

	ModifyObjectInPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ApplyPlanningScene > > client_interface)

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ApplyPlanningScene > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ServiceClientBehaviorBase ()=default

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
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
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

Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene.

TODO(10433): This behavior is a workaround for MTC's inability to remove voxels from the planning scene collision octree when they intersect with a collision object added to that scene. The quick fix is to add objects to the scene in a separate step.

Data Port Name	Port Type	Object Type
object	Input	moveit_studio_vision_msgs::msg::GraspableObject
apply_planning_scene_service	Input	std::string

Constructor & Destructor Documentation

◆ ModifyObjectInPlanningScene() [1/2]

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

explicit

Constructor for the ModifyObjectInPlanningScene behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

◆ ModifyObjectInPlanningScene() [2/2]

moveit_studio::behaviors::ModifyObjectInPlanningScene::ModifyObjectInPlanningScene	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< ApplyPlanningScene > >	client_interface
	)

explicit

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions