moveit_studio::behaviors::ServoTowardsPose Class Reference

Move the tip at a velocity in closed loop towards a Cartesian target_pose, using Servo. More...

#include <servo_towards_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::ServoTowardsPose:

Collaboration diagram for moveit_studio::behaviors::ServoTowardsPose:

Public Member Functions
	ServoTowardsPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override
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
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Move the tip at a velocity in closed loop towards a Cartesian target_pose, using Servo.

This Behavior is intended to be used in a Parallel node. With every tick, the error between the current tip pose (for planning_group_name) and the given target_pose is computed. That error is also the direction along which the tip has to move to decrease the error. Therefore, with every tick, this Behavior will send a twist to Servo, to move along the direction that points towards the target. The Cartesian velocity sent to Servo is proportional (with translational_gain and rotational_gain) to the distance to the target, but capped at the given max_translational_vel and max_rotational_vel translational and rotational velocities. Twist messages are published to Servo at the given publish_rate. The Behavior will run indefinitely until cancelled or until the distance to the target falls below the given exit_threshold_translation and exit_threshold_rotation in the 3D translational and rotational axes, for at least the given exit_threshold_time amount of seconds.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
target_pose	Input	geometry_msgs::PoseStamped
translational_gain	Input	double
rotational_gain	Input	double
max_translational_vel	Input	double
max_rotational_vel	Input	double
exit_threshold_translation	Input	double
exit_threshold_rotation	Input	double
exit_threshold_time	Input	double
publish_rate	Input	int

Constructor & Destructor Documentation

ServoTowardsPose()

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

explicit

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::ServoTowardsPose::onHalted ( )

override

onRunning()

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

override

onStart()

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

override

providedPorts()

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

static

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

• servo_towards_pose.hpp
• servo_towards_pose.cpp