Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. More...

#include <plan_cartesian_path.hpp>

Inheritance diagram for moveit_studio::behaviors::PlanCartesianPath:

Collaboration diagram for moveit_studio::behaviors::PlanCartesianPath:

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

	PlanCartesianPath (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< GetPlanningScene >> client_interface)
	Constructor for PlanCartesianPath behavior that allows for mocking of the rclcpp service client. More...

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
	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< GetPlanningScene >> 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< GetPlanningScene >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
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< BehaviorContext >	shared_resources_

Detailed Description

Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path.

The kinematics are solved for the given 'tip_link' of the given planning group ('planning_group_name'). The path to follow is given by 'path', which can contain waypoints in different frames. All of them will be transformed to a common frame internally. An additional tip offset can be specified via the 'tip_offset' input port (x,y,z, r,p,y, i.e. needs to be size 6). The tip offset is applied to the 'tip_link' frame before generating the reference path, so for example, if 'tip_offset' is set to {0, 0, -0.1, 0, 0, 0}, the tip_link frame origin will be translated 0.1 meters in the negative z direction, and the reference path will be generated using that translated frame. I.e. at the end of the path, the end-effector will be 0.1 meter closer to an object following the -0.1 z axis translation. If 'position_only' is set to true, the solver will only solve for the translational part of the path, i.e. orientation will be unconstained. Use 'blending_radius' to control the amount of rounding at the path corners. 'velocity_scale_factor' and 'acceleration_scale_factor' control the desired joint-space velocity as a fraction ([0,1]) of the maximum joint velocities and accelerations defined in the MoveIt configs. Finally, the rate of the output trajectory can be configured with 'trajectory_sampling_rate', as samples per seconds.

The output (joint_trajectory_msg) is a timed joint-space trajectory that is ready to be sent to a trajectory tracking controller.

The behavior returns SUCCESS if IK was successfully computed for the entire path, or FAILURE otherwise. In any case, the debug_solution output port will include the feasible part of the trajectory, for visualization and debugging.

Data Port Name	Port Type	Object Type
path	Input	std::vector<geometry_msgs::msg::PoseStamped>
planning_group_name	Input	std::string
tip_link	Input	std::string
tip_offset	Input	std::vector<double>
position_only	Input	bool
blending_radius	Input	double
ik_cartesian_space_density	Input	double
ik_joint_space_density	Input	double
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
trajectory_sampling_rate	Input	int
joint_trajectory_msg	Output	trajectory_msgs::msg::JointTrajectory
debug_solution	Output	moveit_task_constructor_msgs::msg::Solution

Constructor & Destructor Documentation

◆ PlanCartesianPath() [1/2]

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

Constructor for PlanCartesianPath behavior.

◆ PlanCartesianPath() [2/2]

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

Constructor for PlanCartesianPath behavior that allows for mocking of the rclcpp service client.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions