Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied. More...

#include <update_planning_scene_service.hpp>

Inheritance diagram for moveit_studio::behaviors::UpdatePlanningSceneService:

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Collaboration diagram for moveit_studio::behaviors::UpdatePlanningSceneService:

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Public Member Functions
	UpdatePlanningSceneService (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new Update Planning Scene object. More...

	UpdatePlanningSceneService (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SendPointCloud2 >> client_interface)
	Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface. More...

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SendPointCloud2 >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface. More...

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< SendPointCloud2 >> client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase. More...

virtual	~ServiceClientBehaviorBase ()=default

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
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SendPointCloud2 >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< SendPointCloud2 >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response. More...

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. More...

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
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

Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied.

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

Constructor & Destructor Documentation

◆ UpdatePlanningSceneService() [1/2]

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

explicit

Construct a new Update Planning Scene object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

◆ UpdatePlanningSceneService() [2/2]

moveit_studio::behaviors::UpdatePlanningSceneService::UpdatePlanningSceneService	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< SendPointCloud2 >>	client_interface
	)

explicit

Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode
client_interface	unique_ptr to an instance of a class derived from ClientInterfaceBase. The Behavior will take ownership of the unique_ptr in this constructor.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Returns list of ports for this behavior.

Inputs to this behavior are: the point cloud, and the name of the service used to update the planning scene.

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

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

Public Member Functions

Static Public Member Functions