moveit_studio::behaviors::PoseJog Class Reference

A Behavior to protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC). More...

#include <pose_jog.hpp>

Inheritance diagram for moveit_studio::behaviors::PoseJog:

Collaboration diagram for moveit_studio::behaviors::PoseJog:

Public Member Functions
	PoseJog (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 ()
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	kPortIdPlanningGroupNames = "planning_group_names"
static constexpr auto	kPortIdControllerNames = "controller_names"
static constexpr auto	kPortIdStopSafetyFactor = "stop_safety_factor"
static constexpr auto	kPortIdLinkPadding = "link_padding"
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 protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC).

This Behavior will subscribe to messages of type moveit_pro_controllers_msgs/VelocityForceCommand, check that they are valid (e.g. kinematically feasible and non-colliding), and forward them to a Velocity Force Controller (VFC) for execution. Multiple planning groups can be controlled by this Behavior, each with its own VFC.

Data Port Name	Port Type	Object Type
planning_group_names	Input	std::vector<std::string>
controller_names	Input	std::vector<std::string>
stop_safety_factor	Input	double
link_padding	Input	double
include_octomap	Input	bool
skip_collision_checks	Input	bool

Constructor & Destructor Documentation

PoseJog()

moveit_studio::behaviors::PoseJog::PoseJog	(	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::PoseJog::getPlanningSceneMonitor ( )

inline

getPlanningSceneMonitor() [2/2]

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

inline

metadata()

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

static

onHalted()

void moveit_studio::behaviors::PoseJog::onHalted ( )

override

onRunning()

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

override

onStart()

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

override

providedPorts()

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

static

Member Data Documentation

kPortIdControllerNames

constexpr auto moveit_studio::behaviors::PoseJog::kPortIdControllerNames = "controller_names"

staticconstexpr

kPortIdIncludeOctomap

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

staticconstexpr

kPortIdLinkPadding

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

staticconstexpr

kPortIdPlanningGroupNames

constexpr auto moveit_studio::behaviors::PoseJog::kPortIdPlanningGroupNames = "planning_group_names"

staticconstexpr

kPortIdSkipCollisionChecks

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

staticconstexpr

kPortIdStopSafetyFactor

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

staticconstexpr

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

• pose_jog.hpp
• pose_jog.cpp