Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI. More...

#include <send_point_cloud_to_ui.hpp>

Inheritance diagram for moveit_studio::behaviors::SendPointCloudToUI:

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Collaboration diagram for moveit_studio::behaviors::SendPointCloudToUI:

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Public Member Functions
	SendPointCloudToUI (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new SendPointCloudToUI Behavior. More...

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 ()
	Returns list of ports for this behavior. More...

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process. More...

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

Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI.

Will clean up the point cloud, transform it to the "world" frame (which is currently required by the MoveIt Studio web app), and publish the result to the appropriate topic for the provided sensor to update the occupancy map. Will also convert the point cloud to ASCII PCD format to send relevant data through to the UI.

NOTE: No validation is done on the value of the UUID, so any string that is provided (including the empty string) will be set on the output port.

Data Port Name	Port Type	Object Type
point_cloud	Input	sensor_msgs::msg::PointCloud2
pcd_topic	Input	std::string

Constructor & Destructor Documentation

◆ SendPointCloudToUI()

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

explicit

Construct a new SendPointCloudToUI Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Returns list of ports for this behavior.

Inputs to this behavior are: the point cloud, sensor_name, an optional point cloud uuid, and the name of the topic to publish the result.

Returns: BT::PortsList The list of I/O Ports

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

Public Member Functions