moveit_studio::behaviors::ResetPlanningSceneObjects Class Reference

Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, including objects that are attached to the robot. More...

#include <reset_planning_scene_objects.hpp>

Inheritance diagram for moveit_studio::behaviors::ResetPlanningSceneObjects:

Collaboration diagram for moveit_studio::behaviors::ResetPlanningSceneObjects:

Public Member Functions
	ResetPlanningSceneObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the ResetPlanningSceneObjects behavior.
BT::NodeStatus	onStart () override
	Reads data from input ports and starts the process that calls the service.
BT::NodeStatus	onRunning () override
	Check if the async process which is running in sendClearPlanningSceneRequest is still in-progress, and retrieves its result when it has finished.
void	onHalted () override
	This has no effect on this behavior, since ROS2 services do not expose a cancellation interface.
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 ()
	Returns list of ports for this behavior.
static BT::KeyValueVector	metadata ()

Additional Inherited Members
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 remove all objects which were added to the planning scene, including objects that are attached to the robot.

Data Port Name	Port Type	Object Type
apply_planning_scene_service	Input	std::string

Constructor & Destructor Documentation

ResetPlanningSceneObjects()

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

explicit

Constructor for the ResetPlanningSceneObjects behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::ResetPlanningSceneObjects::onHalted ( )

override

This has no effect on this behavior, since ROS2 services do not expose a cancellation interface.

onRunning()

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

override

Check if the async process which is running in sendClearPlanningSceneRequest is still in-progress, and retrieves its result when it has finished.

Returns

BT::NodeStatus The status of the Node

onStart()

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

override

Reads data from input ports and starts the process that calls the service.

Returns

BT::NodeStatus The status of the Node

providedPorts()

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

static

Returns list of ports for this behavior.

See the doc comments at the top of the class for a list of the ports.

Returns

BT::PortsList The list of I/O Ports

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

• reset_planning_scene_objects.hpp
• reset_planning_scene_objects.cpp