Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove a collision object from the planning scene. The CollisionObject that has an ID that matches object_id has its operation field set to REMOVE. If there is no CollisionObject with object_id, the behavior returns an error.
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| RemoveCollisionObjectFromPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
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| RemoveCollisionObjectFromPlanningScene (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ApplyPlanningScene > > client_interface) |
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| ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
| Constructs ServiceClientBehaviorBase using the RclcppClientInterface.
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| 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.
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virtual | ~ServiceClientBehaviorBase ()=default |
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| AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
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virtual | ~AsyncBehaviorBase ()=default |
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BT::NodeStatus | onStart () override |
| Required implementation of BT::StatefulActionNode::onStart().
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BT::NodeStatus | onRunning () override |
| Required implementation of BT::StatefulActionNode::onRunning().
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void | onHalted () override |
| Required implementation of BT::StatefulActionNode::onHalted().
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void | resetStatus () |
| Resets the internal status of this node.
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| 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.
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static constexpr std::chrono::seconds | kTimeoutWaitForServiceServer |
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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.
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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.
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tl::expected< void, std::string > | doHalt () override |
| Handles halting logic which is specific to the service client behavior implementation.
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void | notifyCanHalt () |
| Called when runAsync() finishes to notify onHalted() that the async process has finished.
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std::shared_ptr< BehaviorContext > | shared_resources_ |
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Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove a collision object from the planning scene. The CollisionObject that has an ID that matches object_id has its operation field set to REMOVE. If there is no CollisionObject with object_id, the behavior returns an error.
Data Port Name | Port Type | Object Type |
object_id | Input | std::string |
planning_scene_msg | Input | moveit_msgs::msg::PlanningScene |
apply_planning_scene_service | Input | std::string |