MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio::behaviors::ModifyObjectInPlanningScene Class Referencefinal

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:
Collaboration diagram for moveit_studio::behaviors::ModifyObjectInPlanningScene:

Public Member Functions

 ModifyObjectInPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 Constructor for the ModifyObjectInPlanningScene behavior. More...
 
 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. More...
 
 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. More...
 
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(). More...
 
BT::NodeStatus onRunning () override
 Required implementation of BT::StatefulActionNode::onRunning(). More...
 
void onHalted () override
 Required implementation of BT::StatefulActionNode::onHalted(). More...
 
void resetStatus ()
 Resets the internal status of this node. More...
 
- 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

- 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< bool, std::string > processResponse (const typename ServiceT::Response &)
 Optional user-provided function to process the service response after the service has finished. More...
 
- Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void notifyCanHalt ()
 Called when runAsync() finishes to notify onHalted() that the async process has finished. More...
 
- Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContextshared_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
nameSee SharedResourcesNode
configSee SharedResourcesNode
shared_resourcesSee 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: