moveit_pro::behaviors Namespace Reference

Namespaces
namespace	check_for_error_utils
namespace	compute_velocity_to_align_with_target
namespace	impl
namespace	internal
namespace	wrench_measurement

Classes
class	ActionClientBehaviorBase
	A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled. More...
class	AddCollisionBox
	Adds a box-shaped CollisionObject to the planning scene. More...
class	AddCollisionCylinder
	Adds a cylinder-shaped CollisionObject to the planning scene. More...
class	AddCollisionMesh
	Adds a mesh CollisionObject to the planning scene. More...
class	AddCollisionObject
	Adds a user-supplied CollisionObject to the planning scene. More...
class	AddCollisionObjectBase
	Abstract base for Behaviors that add a CollisionObject to the planning scene. More...
class	AddCollisionSphere
	Adds a sphere-shaped CollisionObject to the planning scene. More...
class	AddOverageToPath
	Adds overage waypoints to both ends of a path by extending along a specified local axis. More...
class	AddPointCloudToVector
	Appends a point cloud to a vector of point clouds. More...
class	AddTool
	This Behavior sends a request to add a tool to the planning scene as a collision object. More...
class	AddToVector
	Template for a behavior that pushes an object into a vector and sets the updated vector to the blackboard. More...
class	AddURDF
	This Behavior sends a request to add a URDF object to the planning scene as a collision object. More...
class	AddVirtualObjectToPlanningScene
	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object can collide with other 'virtual' objects in the planning scene, but not with the robot links, or any other objects that are considered not virtual, e.g. added via AddURDF or ModifyObjectInPlanningScene. More...
class	AdjustPoseWithIMarker
	Requests a user to manually adjust a collection of poses using interactive markers in the UI. More...
class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...
class	AttachObject
	Attaches a collision object that is already in the planning scene to a robot link. More...
struct	AttachOrDetachStageRequest
	Parameters describing the attach or detach action for appendAttachOrDetachStage. More...
class	AttachTool
	This Behavior sends a request to attach a tool to a robot for motion planning purposes. More...
class	AttachURDF
	This Behavior sends a request to attach a URDF object to a robot for motion planning purposes. More...
class	AveragePoseStamped
	This Behavior calculates the running average of incoming Pose Stamped ROS messages. More...
class	AveragePoseStampedVector
	Returns the average PoseStamped from a vector of PoseStamped. More...
class	AvoidPointsInCoveragePath
	Modifies a coverage path to route around obstacle points using semicircular detours. More...
struct	BehaviorContext
	The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode. More...
class	BiasedCoinFlip
	Simulates flipping a biased coin with the specified probability of success provided via the input port. More...
class	BlendJointTrajectories
	Blend a sequence of joint trajectories into a single trajectory with smooth transitions. More...
class	BlockUntilParameterIsTrue
	Block (return RUNNING) until a blackboard entry evaluates as true, then return SUCCESS. More...
class	BreakpointSubscriber
	A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective. More...
class	CalculatePoseOffset
	Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose. More...
class	CalibrateCameraPose
	Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector. More...
class	CallTriggerService
	Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter. More...
class	CheckCuboidSimilarity
	Check if two GraspableObjects are similar within some tolerance. More...
class	ClearAllVisualMarkers
	Deletes all visual markers currently displayed in the UI. More...
class	ClearSnapshot
	Sends a request to clear the existing Octomap and Pointcloud snapshots. More...
class	ClientInterfaceBase
	Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads. More...
class	ClockInterfaceBase
	A base class which provides an interface for retrieving timepoints from a monotonic clock. More...
struct	CombinedImageResult
	Result of building the combined inference image (target alone, or target+exemplar side-by-side). More...
class	ComputeInverseKinematics
	A Behavior to compute the inverse kinematics for a given set of target poses. More...
class	ComputeLinkPoseForwardKinematics
	This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states. More...
class	ComputePathToPoseAction
	Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Humble) returns a nav_msgs/Path path and builtin_interfaces/Duration planning_time. More...
class	ComputeSignedDistanceField
	A Behavior to compute a propagation (signed) distance field from a planning scene. More...
class	ComputeVelocityToAlignWithTarget
	calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller. More...
class	ConvertMtcSolutionToJointTrajectory
	Converts a MoveIt Task Constructor Solution into a JointTrajectory. More...
class	ConvertTransformStampedToPoseStamped
	Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message. More...
class	CoreBehaviorsLoader
class	CreateBoundingBox2D
	Construct a BoundingBox2D message from individual coordinate and size ports. More...
class	CreateBoundingBoxes2D
	Convert a flat vector of doubles into a vector of BoundingBox2D messages. More...
class	CreateBoundingBoxFromOffset
	Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions. More...
class	CreateCollisionObjectFromSolidPrimitive
	Creates a CollisionObject from a SolidPrimitive, pose, and object ID. More...
class	CreateCollisionSpheresAtClosestPoints
	This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message. More...
class	CreateGraspableObject
class	CreateJointState
	Create a sensor_msgs::msg::JointState and writes it to the Blackboard. More...
class	CreatePoseStamped
	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard. More...
class	CreateSolidPrimitiveBox
	Creates a box-shaped SolidPrimitive from input dimensions for use with CollisionObjects. More...
class	CreateStampedPose
	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard. More...
class	CreateStampedTwist
	Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard. More...
class	CreateStampedWrench
	Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard. More...
class	CreateStationaryTrajectory
	This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message. More...
class	CreateTransform
	Create a geometry_msgs::msg::Transform and write it to the Blackboard. More...
class	CreateTwistStamped
	Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard. More...
class	CreateWrenchStamped
	Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard. More...
class	CropOrRemovePointsInBox
class	CropPointsInSphere
	Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid. More...
class	CropPosesInBox
	Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid. More...
class	DetachObject
	Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose. More...
class	DetachOrRemoveTool
	This Behavior sends a request to detach a tool from a robot or remove it from the planning scene. More...
class	DetachOrRemoveURDF
	Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene. More...
class	DetachURDF
	This Behavior detaches a URDF object from the robot. More...
class	DetectAprilTags
	Detects AprilTag markers from an image. More...
class	DiffusionPolicy
	Behavior for executing a pretrained diffusion policy in MoveIt Pro. More...
class	DiffusionPolicyInterface
class	DilateMask2D
	Apply morphological dilation to a vector of 2D masks. More...
struct	DistanceFieldParameters
	Parameters for building a propagation distance field from a planning scene. More...
class	DoTeleoperateAction
	Starts teleoperation by sending a goal to the teleoperation action server in the web UI. More...
class	EditWaypoint
	Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase". If set to "save", then the "joint_group_names" parameter must also be set to specify which joint groups to include in the saved waypoint. More...
class	ErodeMask2D
	Apply morphological erosion to a vector of 2D masks. More...
class	ExecuteFollowJointTrajectory
	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to the specified FollowJointTrajectory action server. More...
class	ExecuteMTCSolution
	Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of execution_pipeline. After each subtrajectory succeeds, apply the corresponding planning scene diff so that scene updates from the MTC task persist. More...
class	ExecuteMTCTask
	Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server. More...
class	ExecuteTrajectory
	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to either a standard FollowJointTrajectory action server (JTC) or a Joint Trajectory Admittance Controller (JTAC) action server, depending on the value of the execution_pipeline input port. More...
class	ExecuteTrajectoryWithAdmittance
	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to a Joint Trajectory With Admittance controller (JTAC). More...
struct	ExemplarInfo
	Exemplar-specific metadata captured before resize; present only when an exemplar was provided. More...
class	ExtractGraspableObjectPose
	Changes an input GraspableObject into a PoseStamped by getting its pose and its ID. More...
class	FilterMasks2DByArea
	Filter 2D masks based on mask area only. More...
class	FilterMasks2DByBoundingBox
	Filter 2D masks based on bounding box dimensions only. More...
class	FindMaskedObjects
	Finds objects by segmenting a point cloud using a set of 2D mask images. More...
class	FindSingularCuboids
	Finds well-singulated cuboids supported by a surface within a point cloud. More...
class	FindSlicePlanesAlongEdge
	Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints. More...
class	FitLineSegmentToMask3D
	Finds the line segment that best fits a point cloud fragment. More...
class	FollowPathAction
	Calls an action server that uses nav2_msgs::action::FollowPath and outputs feedback. The FollowPath action (ROS 2 Humble) does not return a result. More...
class	ForceExceedsThreshold
	Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings. More...
class	ForEach
	A class for creating a behavior tree decorator node to iterate through a vector of items. More...
class	ForEachUntilSuccess
	A decorator node that iterates through a vector of items, stopping on first successful child node tick. More...
class	GenerateCoveragePath
	Creates a zig-zag path for a robot end-effector to follow, to cover a given area. More...
class	GenerateCuboidGraspPoses
	Given a target GraspableObject and planning details about the arm, generate grasp poses. More...
class	GeneratePointToPointTrajectory
	Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state. More...
class	GenerateVacuumGraspPoses
	Given a target GraspableObject and planning details about the arm, generate grasp poses. More...
class	GetCameraInfo
	Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting information is available on the "message_out" output port. More...
class	GetCenterFromMask2D
	Given a mask, compute the centroid and write the point to the blackboard. More...
class	GetCenterMostAprilTag
	Gets the stamped pose of the AprilTag detection closest to the center of the camera image. More...
class	GetCentroidFromPointCloud
	Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud. More...
class	GetClosestObjectToPose
	Given a collection of GraspableObjects, find the one that's closest to the provided pose. More...
class	GetContourFromPointCloudSlice
	Extracts contours from a point cloud slice. More...
class	GetConvexHullPointCloud
	Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes. More...
class	GetCurrentPlanningScene
	Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request. More...
class	GetDetectionPose
	Gets the stamped pose of an object detection given a label or ID, if one exists. More...
class	GetElementOfVector
	Get the element of a vector at the given index. More...
class	GetFilePathsFromDirectory
	Get all filenames in a given directory (optionally with a specific file extension). More...
class	GetGraspableObjectsFromMasks3D
	Finds objects in point cloud segments represented by 3D masks. More...
class	GetGraspPoseFromPointCloud
	Infer a parallel jaw grasp pose from point cloud of an object. Details of the machine learning model can be seen at https://github.com/antoalli/L2G The point cloud of the object to grasp is given through point_cloud. No inference of what the point cloud represents is done, nor any notion of collision checking. Only the points of the object to be grasped should be given. The point cloud should approximately fit in a 0.22 meter cube. number_of_grasps_to_return is a simple clamping and the model is always inferring a fixed number, which is about 50. model_path locates the .onnx file of the model weights. If model_package is specified, model_path will be assumed relative to its directory. grasps are the poses of the closed end effector tip. They are not sorted by quality and require feasibility and collision checking. More...
class	GetImage
	Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port. More...
class	GetLatestTransform
	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior. More...
class	GetMask2DProperties
	Extract bounding box dimensions and area from a single Mask2D message. More...
struct	GetMasks2DAutomask
	Segment an image using SAM2 automasking with grid-based point generation. More...
struct	GetMasks2DFromExemplar
	Segment an image using SAM3 with multimodal prompts. More...
class	GetMasks2DFromPointQuery
	Segment an image using the SAM 2 model and point prompts. More...
class	GetMasks2DFromPointQueryInterface
class	GetMasks2DFromTextQuery
	Segment an image using the ClipSeg model. More...
class	GetMasks2DFromTextQueryInterface
class	GetMasks3DFromMasks2D
	Backprojects a number of image masks onto a point cloud with a camera model. More...
class	GetMeshNormalPoses
	Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. More...
class	GetMessageFromTopicBehaviorBase
	Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port. More...
class	GetOdom
	Subscribes to an odometry message and stores it on the blackboard. More...
class	GetOrientedBoundingBoxFromPointCloud
	Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs that as a center pose and box dimensions. The OBB orientation is disambiguated by choosing the orientation closest to the reference_pose. More...
class	GetPointCloud
	Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port. More...
class	GetPointCloudFromMask3D
	Gets the fragment of a point cloud for a 3D mask. More...
class	GetPoints2DFromGeminiQuery
	Queries Google Gemini with a text prompt and a ROS image to locate 2D points in the image. More...
class	GetPointsFromUser
	Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI. More...
class	GetPoseFromPixelCoords
	Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates. More...
class	GetPoseFromUser
	Sends a prompt request to the UI so that the user can click in the UI and return a pose. More...
class	GetRobotJointState
	This behavior extracts joint state data from a planning scene object. More...
class	GetSizeOfVector
	Get the size of a vector. More...
class	GetSyncedImageAndPointCloud
	Get data from time-synchronized image and point cloud topics and populate them in output ports. More...
class	GetSyncedImages
	Get data from time-synchronized image topics and populate them in output ports. More...
class	GetTextFromUser
	Gets text from user by sending a list of prompts with default values for each prompt. More...
class	GetTrajectoryStateAtTime
	Get the JointState of a JointTrajectory at a specified time. More...
class	InitializeMTCTask
	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port. More...
class	InsertInVector
	Insert an element into a vector at the given index. More...
class	IsAnyObjectAttached
	This Behavior checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, FAILURE otherwise. More...
class	IsCollisionObjectInPlanningScene
	Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise. More...
class	IsObjectAttachedTo
class	IsPoseNearIdentity
	Returns SUCCESS if the pose is within the position and rotation tolerances of the identity pose. Useful for evaluating an error pose. More...
class	IsUserAvailable
	Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists. More...
class	IsVisibilityConstraintSatisfied
	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object. More...
class	JointJog
	A Behavior to forward JointJog commands to a Joint Velocity Controller. More...
class	ListControllers
	Lists controllers from the controller manager with two independent filters. More...
class	LoadFromYaml
	Loads a type from a YAML file, and returns it in an output port. More...
class	LoadImageFromFile
	Loads an image from a file and writes it to an output data port. More...
class	LoadMultipleFromYaml
	Loads types from a YAML file, and returns them as a vector in an output port. More...
class	LoadPointCloudFromFile
	Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port. More...
class	LogMessage
	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level. More...
class	MergePointClouds
	Merges a number of input point clouds into a single one. More...
class	ModifyObjectInPlanningScene
	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene. More...
class	MoveCollisionObject
	Updates the reference pose of an existing CollisionObject in the planning scene. More...
class	MoveGripperAction
	Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripper to the specified position. More...
class	MPCBehaviorBase
	A base class for behaviors to help set up and execute MPC. More...
class	MPCBehaviorsLoader
class	MPCPointCloudClearance
	Avoid a point cloud using MPC. More...
class	MPCPoseTracking
	Track a moving pose using MPC. More...
class	MPCSphereClearance
	Avoid collision object spheres using MPC. More...
class	MTCCoreBehaviorsLoader
class	MTCTaskSetupBehaviorsLoader
class	MujocoBehaviorsLoader
	Plugin loader for MuJoCo-related behaviors. More...
class	NavBehaviorsLoader
class	NavigateThroughPosesAction
	Calls an action server that uses nav2_msgs::action::NavigateThroughPoses and outputs feedback The NavigateThroughPoses action (ROS 2 Humble) does not produce a result. More...
class	NavigateToPoseAction
	Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The NavigateToPose action (ROS 2 Humble) does not produce a result. More...
struct	ObjectWithDistance
	Associates a GraspableObject with a distance metric. More...
class	OverridePoseOrientation
	Replaces the orientation of a PoseStamped with a fixed quaternion. More...
class	PersistentPublisherCache
	Topic-keyed cache of publishers whose latched samples must outlive the Behavior instance that created them. More...
class	PlanCartesianPath
	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip(s) along the path. More...
class	PlanMTCTask
	Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as an output data port. A service client sends over all the solutions to the MTC Solution Manager node which can be used for debugging. More...
class	PlanToJointGoal
	Given a joint-space goal, plan a joint-space trajectory to reach the goal. More...
class	PoseJog
	A Behavior to protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC). More...
struct	PostProcessResult
	Outputs produced by post-processing SAM3 masks. More...
class	PublishBoundingBoxes2D
	Publishes a bounding box visualization to a topic. More...
class	PublishEmpty
	Publish a std_msgs::msg::Empty message to a topic. More...
class	PublisherInterfaceBase
	Defines an interface to a publisher that sends a message to a topic. More...
class	PublishMarkers
	Publishes a set of markers to the UI for visualization. More...
class	PublishMask2D
	Publishes a masks visualization to topic. More...
class	PublishPointCloud
	Publish a point cloud. More...
class	PublishStaticFrame
	Deprecated alias for PublishTF. More...
class	PublishString
	Publish a std_msgs::msg::String message to a topic. More...
class	PublishTF
	Publishes a dynamic transform on /tf at a configured rate. More...
class	PublishVelocityForceCommand
	Publishes a velocity force command to the velocity force controller at a fixed rate. More...
class	PushBackVector
	Append an element to the back of a vector. More...
class	PushToSolutionQueue
	Push a new MTC solution to the solution queue. More...
class	RclcppClientInterface
	Implements ClientInterfaceBase for the rclcpp service client. More...
class	RclcppPublisherInterface
	Implementation of the publisher interface for a rclcpp publisher. More...
class	RclcppSubscriberInterface
	rclcpp implementation of the one-shot subscriber interface. More...
class	ReadTextFileAsString
	Read the contents of a text file and output the contents as a std::string. More...
class	RecordJointTrajectory
	Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message. More...
class	RegisterPointClouds
	Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud. More...
class	RemoveCollisionObject
	Removes a collision object from a planning scene by id. More...
class	RemoveCollisionObjectFromPlanningScene
	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. More...
class	RemoveFromVector
	Remove an element from a vector at the given index. More...
class	RemoveURDFFromScene
	This Behavior removes a URDF object from the planning scene. More...
class	RepeatUnlessFailureEachTick
	Decorator that ticks its child up to num_cycles times, advancing one iteration per parent tick. More...
class	RepeatUnlessFailureWithinTick
	Decorator that ticks its child up to num_cycles times within a single parent tick, stopping on first failure. More...
class	ReplaceInVector
	Replace an element in a vector at the given index. More...
class	ResetMujocoKeyframe
	Resets the MuJoCo simulation to a specified keyframe. More...
class	ResetPlanningSceneObjects
	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...
class	ResetVector
	Create an empty vector and set it to the blackboard. More...
class	RetrieveJointStateParameter
	Retrieves a joint state from the MoveIt Pro parameter manager node. More...
class	RetrievePoseParameter
	Retrieves a stamped pose from the MoveIt Pro parameter manager node. More...
class	RetrieveWaypoint
	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint. More...
class	ReverseVector
	Reverses the order of elements in a vector and sets the reversed vector to the blackboard. More...
class	ROSPublisherHandle
class	RotateTwistToFrame
	Rotates a stamped twist into a different frame's orientation. More...
class	SaveCurrentState
	Use the /get_planning_scene service from move_group to save the robot's current state. More...
class	SaveImageToFile
	Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png. More...
class	SaveMTCTaskInspection
	Walks an MTC Task and saves all introspection data (stage tree, statistics, every solution and failure, interface states, per-stage failure explanations) to a JSON file on disk. More...
class	SavePointCloudToFile
	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd. More...
class	SavePoseForUrdf
	Saves a PoseStamped in xyz rpy URDF format to file. More...
class	SaveToYaml
	Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the ~/.config/moveit_pro/robot_config/objectives folder. More...
class	SendMessageToTopicBehaviorBase
	Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports. More...
class	SendPointCloudToUI
	Transform a point cloud to the "world" frame and publish it as PCD to a topic the UI visualizes. More...
class	ServiceClientBehaviorBase
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...
class	SetAdmittanceParameters
	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior. More...
class	SetCollisionRule
	Allows or forbids collisions between two entities in the planning scene's Allowed Collision Matrix, without an MTC task. More...
class	SetInitialPose
	Looks up the robot's current pose via TF and publishes it to the localizer's initial-pose topic (default /initialpose) to re-seed the particle filter. More...
class	SetMujocoState
	Sets MuJoCo simulation state to specified joint positions. More...
class	SetRos2Parameter
	Set any ROS2 parameter on any node at runtime via the standard set_parameters service. More...
class	SetupMTCAddCollisionBox
	Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution. More...
class	SetupMTCAddCollisionCylinder
	Append an MTC ModifyPlanningScene stage that adds a cylinder-shaped collision object to the planning scene during MTC task execution. More...
class	SetupMTCAddCollisionMesh
	Append an MTC ModifyPlanningScene stage that adds a mesh collision object to the planning scene during MTC task execution. More...
class	SetupMTCAddCollisionSphere
	Append an MTC ModifyPlanningScene stage that adds a sphere-shaped collision object to the planning scene during MTC task execution. More...
class	SetupMTCApproachGrasp
	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object. More...
class	SetupMTCAttachObject
	Add an MTC Stage to an MTC Task that attaches an object to the named robot frame. More...
class	SetupMTCAttachObjectByID
	Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution. More...
class	SetupMTCAttachOrDetachObject
	This is the base class for SetupMTCAttachObject and SetupMTCDetachObject. More...
class	SetupMTCBatchPoseIK
	Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *. More...
class	SetupMTCCartesianMoveToJointState
	Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state. More...
class	SetupMTCCartesianSequence
	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses. More...
class	SetupMTCConnectWithProRRT
	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner. More...
class	SetupMTCCurrentState
	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task. More...
class	SetupMTCDetachObject
	Add an MTC Stage to an MTC Task that detaches an object from the named robot frame. More...
class	SetupMTCDetachObjectByID
	Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution. More...
class	SetupMTCFixedJointState
	Given an existing MTC Task object, appends an MTC FixedState Stage to the Task. More...
class	SetupMTCFromSolution
	Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution. More...
class	SetupMTCGenerateCuboidGrasps
	Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses. More...
class	SetupMTCGenerateVacuumGrasps
	Given an existing MTC Task object and a target object, appends MTC stages to generate vacuum grasp poses on its planar surfaces. More...
class	SetupMTCIgnoreCollisionsBetweenObjects
	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages. More...
class	SetupMTCInterpolateToJointState
	Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state. More...
class	SetupMTCMoveAlongFrameAxis
	Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis. More...
class	SetupMTCMultiEEFMoveAlongAxis
	The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task. More...
class	SetupMTCPathIK
	Given an existing MTC Task object, append a stage to perform a cartesian motion along a given path. More...
class	SetupMTCPlanToJointState
	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner. More...
class	SetupMTCPlanToPose
	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner. More...
class	SetupMTCRemoveCollisionObject
	Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution. More...
class	SetupMTCSetCollisionRule
	Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution. More...
class	SetupMTCUpdateGroupCollisionRule
	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages. More...
class	SetupMTCUpdateObjectCollisionRule
	Add an MTC Stage to an MTC Task that makes following stages either allow or prohibit collision between a GraspableObject and another entity. The other entity can be either a named collision object in the planning scene or the links of a named robot planning group. More...
class	SharedResourcesNode
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...
class	SharedResourcesNodeLoaderBase
	The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode. More...
class	SolveIKQueries
class	SplitMTCSolution
	Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports. More...
class	SteadyClockInterface
	Implementation of ClockInterfaceBase for std::chrono::steady_clock. More...
class	StopwatchBegin
	Saves the current epoch time as a timepoint to a data port. More...
class	StopwatchEnd
	Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed. More...
class	StringToInt
	Converts a string to an int. More...
class	SubscriberInterface
	One-shot subscriber interface that receives a single message from a topic, then cleans up. More...
class	SuppressChildErrors
	A decorator that filters the log messages produced while ticking its child Behavior. More...
class	SwitchController
	A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers. More...
class	SwitchUIPrimaryView
	Switches the primary view in the MoveIt Studio Developer Tool. More...
class	TransformPointCloud
	Transforms a point cloud given an input pose in the same frame as the point cloud. More...
class	TransformPointCloudFrame
	Transforms a point cloud to a target coordinate frame. More...
class	TransformPose
	Transforms a stamped pose given an input translation and orientation. More...
class	TransformPoseFrame
	Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails. More...
class	TransformPoseWithPose
	Transforms an input stamped pose with the transform specified by another stamped pose. More...
class	TrimPointcloudSurface
	Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints. More...
class	UpdatePlanningSceneService
	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...
class	ValidateTrajectory
	Checks if a joint trajectory is valid, given a PlanningScene. More...
class	VisionBehaviorsLoader
class	VisualizeCameraFrustum
	Publishes a visualization marker showing a camera frustum as a LINE_LIST. More...
class	VisualizeLine
	Publishes a visualization marker that draws a line between two poses. More...
class	VisualizeMesh
	Publishes a marker that contains a mesh path to the UI for visualization. More...
class	VisualizePath
	Publishes a marker array that contains a polyline representing a path. More...
class	VisualizePose
	Publishes a visualization marker that contains three lines composing a coordinate frame. More...
class	WaitAndPopSolutionQueue
	Pops the MTC solution queue to get the next solution to be processed. More...
class	WaitForDuration
	Wait for a specified duration before succeeding. More...
class	WaitForJointTrajectoryApproval
	Takes a raw JointTrajectory via an input data port (e.g. the output of PlanToJointGoal or PlanCartesianPath), wraps it in a minimal MTC Solution, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...
class	WaitForMTCSolutionApproval
	Takes an MTC Solution message via an input data port and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...
class	WaitForUserPathApproval
	Sends a prompt request to the UI to accept or reject a visualized nav_msgs::msg::Path. More...
class	WaitForUserTrajectoryApproval
	Takes an MTC Solution message via an input data port, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting. More...
class	WhichObjectIsAttached
	Checks a PlanningScene to determine if an object is attached from a given vector of object names. More...

Typedefs
using	ApplyPlanningScene = moveit_msgs::srv::ApplyPlanningScene
using	Trigger = std_srvs::srv::Trigger
using	GetPlanningScene = moveit_msgs::srv::GetPlanningScene
using	DoTeleoperate = moveit_studio_sdk_msgs::action::DoTeleoperate
using	EditWaypoints = moveit_studio_agent_msgs::srv::EditWaypoints
using	FollowJointTrajectory = control_msgs::action::FollowJointTrajectory
using	GripperCommand = control_msgs::action::GripperCommand
using	SetParameters = rcl_interfaces::srv::SetParameters
using	ListControllersSrv = controller_manager_msgs::srv::ListControllers
using	SwitchControllerSrv = controller_manager_msgs::srv::SwitchController
using	AdjustPose = moveit_studio_internal_msgs::srv::AdjustPose
using	RequestPointsFromUser = moveit_studio_internal_msgs::srv::RequestPointsFromUser
using	GetPoseFromUserSrv = moveit_studio_internal_msgs::srv::GetPoseFromUser
using	RequestTextFromUser = moveit_studio_internal_msgs::srv::RequestTextFromUser
using	RetrieveJointState = moveit_studio_agent_msgs::srv::RetrieveJointState
using	RetrievePose = moveit_studio_agent_msgs::srv::RetrievePose
using	ExecuteTaskSolution = moveit_task_constructor_msgs::action::ExecuteTaskSolution
using	StoreUidMap = moveit_studio_internal_msgs::srv::StoreUidMap
using	ComputePathToPose = nav2_msgs::action::ComputePathToPose
using	FollowPath = nav2_msgs::action::FollowPath
using	NavigateThroughPoses = nav2_msgs::action::NavigateThroughPoses
using	NavigateToPose = nav2_msgs::action::NavigateToPose
using	WaitForUserPathApprovalSrv = moveit_studio_internal_msgs::srv::WaitForUserPathApproval
using	NormalizedBox = moveit_pro_ml::onnx::Box< moveit_pro_ml::onnx::box_format::CXCYWH, moveit_pro_ml::onnx::coord_system::Normalized >
	Normalized CXCYWH box in SAM3 inference coordinate space.
using	SendPointCloud2 = moveit_studio_agent_msgs::srv::SendPointCloud2
using	AddURDFSrv = moveit_studio_agent_msgs::srv::AddURDF
using	AttachURDFSrv = moveit_studio_agent_msgs::srv::AttachURDF
using	DetachOrRemoveURDFSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveURDF
using	NchwTensor = moveit_pro_ml::onnx::Tensor< float, moveit_pro_ml::onnx::tensor_format::NCHW >
using	AddPoseStampedToVector = AddToVector< geometry_msgs::msg::PoseStamped >
	AddPoseStampedToVector Behavior: the geometry_msgs::msg::PoseStamped specialization of AddToVector.
using	LoadPointStampedVectorFromYaml = LoadMultipleFromYaml< geometry_msgs::msg::PointStamped >
	LoadPointStampedVectorFromYaml Behavior: the geometry_msgs::msg::PointStamped specialization of LoadMultipleFromYaml.
using	LoadPoseVectorFromYaml = LoadMultipleFromYaml< geometry_msgs::msg::Pose >
	LoadPoseVectorFromYaml Behavior: the geometry_msgs::msg::Pose specialization of LoadMultipleFromYaml.
using	LoadPoseStampedVectorFromYaml = LoadMultipleFromYaml< geometry_msgs::msg::PoseStamped >
	LoadPoseStampedVectorFromYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of LoadMultipleFromYaml.
using	LoadHeaderVectorFromYaml = LoadMultipleFromYaml< std_msgs::msg::Header >
	LoadHeaderVectorFromYaml Behavior: the std_msgs::msg::Header specialization of LoadMultipleFromYaml.
using	LoadSubframesFromYaml = LoadMultipleFromYaml< moveit_studio_vision_msgs::msg::ObjectSubframe >
	LoadSubframesFromYaml Behavior: the moveit_studio_vision_msgs::msg::ObjectSubframe specialization of LoadMultipleFromYaml.
using	LoadPointStampedFromYaml = LoadFromYaml< geometry_msgs::msg::PointStamped >
	LoadPointStampedFromYaml Behavior: the geometry_msgs::msg::PointStamped specialization of LoadFromYaml.
using	LoadPoseFromYaml = LoadFromYaml< geometry_msgs::msg::Pose >
	LoadPoseFromYaml Behavior: the geometry_msgs::msg::Pose specialization of LoadFromYaml.
using	LoadPoseStampedFromYaml = LoadFromYaml< geometry_msgs::msg::PoseStamped >
	LoadPoseStampedFromYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of LoadFromYaml.
using	LoadQuaternionFromYaml = LoadFromYaml< geometry_msgs::msg::Quaternion >
	LoadQuaternionFromYaml Behavior: the geometry_msgs::msg::Quaternion specialization of LoadFromYaml.
using	LoadTransformFromYaml = LoadFromYaml< geometry_msgs::msg::Transform >
	LoadTransformFromYaml Behavior: the geometry_msgs::msg::Transform specialization of LoadFromYaml.
using	LoadTransformStampedFromYaml = LoadFromYaml< geometry_msgs::msg::TransformStamped >
	LoadTransformStampedFromYaml Behavior: the geometry_msgs::msg::TransformStamped specialization of LoadFromYaml.
using	LoadVector3FromYaml = LoadFromYaml< geometry_msgs::msg::Vector3 >
	LoadVector3FromYaml Behavior: the geometry_msgs::msg::Vector3 specialization of LoadFromYaml.
using	LoadRobotJointStateFromYaml = LoadFromYaml< moveit_studio_agent_msgs::msg::RobotJointState >
	LoadRobotJointStateFromYaml Behavior: the moveit_studio_agent_msgs::msg::RobotJointState specialization of LoadFromYaml.
using	LoadObjectSubframeFromYaml = LoadFromYaml< moveit_studio_vision_msgs::msg::ObjectSubframe >
	LoadObjectSubframeFromYaml Behavior: the moveit_studio_vision_msgs::msg::ObjectSubframe specialization of LoadFromYaml.
using	LoadHeaderFromYaml = LoadFromYaml< std_msgs::msg::Header >
	LoadHeaderFromYaml Behavior: the std_msgs::msg::Header specialization of LoadFromYaml.
using	LoadJointTrajectoryFromYaml = LoadFromYaml< trajectory_msgs::msg::JointTrajectory >
	LoadJointTrajectoryFromYaml Behavior: the trajectory_msgs::msg::JointTrajectory specialization of LoadFromYaml.
using	ResetPoseStampedVector = ResetVector< geometry_msgs::msg::PoseStamped >
	ResetPoseStampedVector Behavior: the geometry_msgs::msg::PoseStamped specialization of ResetVector.
using	ReversePoseStampedVector = ReverseVector< geometry_msgs::msg::PoseStamped >
	ReversePoseStampedVector Behavior: the geometry_msgs::msg::PoseStamped specialization of ReverseVector.
using	SavePointStampedToYaml = SaveToYaml< geometry_msgs::msg::PointStamped >
	SavePointStampedToYaml Behavior: the geometry_msgs::msg::PointStamped specialization of SaveToYaml.
using	SavePoseToYaml = SaveToYaml< geometry_msgs::msg::Pose >
	SavePoseToYaml Behavior: the geometry_msgs::msg::Pose specialization of SaveToYaml.
using	SavePoseStampedToYaml = SaveToYaml< geometry_msgs::msg::PoseStamped >
	SavePoseStampedToYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of SaveToYaml.
using	SaveQuaternionToYaml = SaveToYaml< geometry_msgs::msg::Quaternion >
	SaveQuaternionToYaml Behavior: the geometry_msgs::msg::Quaternion specialization of SaveToYaml.
using	SaveTransformToYaml = SaveToYaml< geometry_msgs::msg::Transform >
	SaveTransformToYaml Behavior: the geometry_msgs::msg::Transform specialization of SaveToYaml.
using	SaveTransformStampedToYaml = SaveToYaml< geometry_msgs::msg::TransformStamped >
	SaveTransformStampedToYaml Behavior: the geometry_msgs::msg::TransformStamped specialization of SaveToYaml.
using	SaveVector3ToYaml = SaveToYaml< geometry_msgs::msg::Vector3 >
	SaveVector3ToYaml Behavior: the geometry_msgs::msg::Vector3 specialization of SaveToYaml.
using	SaveRobotJointStateToYaml = SaveToYaml< moveit_studio_agent_msgs::msg::RobotJointState >
	SaveRobotJointStateToYaml Behavior: the moveit_studio_agent_msgs::msg::RobotJointState specialization of SaveToYaml.
using	SaveHeaderToYaml = SaveToYaml< std_msgs::msg::Header >
	SaveHeaderToYaml Behavior: the std_msgs::msg::Header specialization of SaveToYaml.
using	SaveJointTrajectoryToYaml = SaveToYaml< trajectory_msgs::msg::JointTrajectory >
	SaveJointTrajectoryToYaml Behavior: the trajectory_msgs::msg::JointTrajectory specialization of SaveToYaml.

Enumerations
enum class	CropOrRemovePointsInBoxModes { CROP , REMOVE }
	Base class for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined relative to its centroid. More...
enum class	Subcategory {   MotionTaskPlanning , MotionPlanning , MotionExecute , MotionControls ,   Perception3DPointCloud , Perception2DImage , PerceptionML , PerceptionPlanningScene ,   PerceptionCameraCalibration , VectorHandling , PoseHandling , YAMLHandling ,   StringHandling , UserInput , Utility , Grasping ,   Visualization , Navigation , ROSMessaging , PlanningSceneModification ,   ControlFlow , Conversions , SimulationMuJoCo , UserCreatedBehaviors }
	Canonical subcategory values used by Behavior metadata. More...

Functions
tl::expected< moveit_msgs::msg::CollisionObject, std::string >	buildBoxCollisionObject (std::string_view object_id, const std::vector< double > &dimensions, const geometry_msgs::msg::PoseStamped &pose)
	Builds a CollisionObject for a box.
tl::expected< moveit_msgs::msg::CollisionObject, std::string >	buildCylinderCollisionObject (std::string_view object_id, double height, double radius, const geometry_msgs::msg::PoseStamped &pose)
	Builds a CollisionObject for a cylinder.
tl::expected< moveit_msgs::msg::CollisionObject, std::string >	buildMeshCollisionObject (std::string_view object_id, std::string_view mesh_file_path, const geometry_msgs::msg::PoseStamped &pose, const std::vector< double > &scale)
	Builds a CollisionObject for a mesh loaded from a resource URI.
tl::expected< moveit_msgs::msg::CollisionObject, std::string >	buildSphereCollisionObject (std::string_view object_id, double radius, const geometry_msgs::msg::PoseStamped &pose)
	Builds a CollisionObject for a sphere.
moveit_msgs::srv::ApplyPlanningScene::Request	createAddVirtualCollisionObjectToPlanningSceneRequest (const moveit_studio_vision_msgs::msg::GraspableObject &graspable_object, const moveit_msgs::msg::PlanningScene &planning_scene)
	Creates a ApplyPlanningScene::Request for adding a virtual collision object to the planning scene.
tl::expected< bool, std::string >	evaluateAttach (std::string_view object_id, std::string_view link_name, const moveit_msgs::msg::PlanningScene &scene)
	Decide whether an attach diff is needed for an id in a planning scene.
moveit_msgs::msg::AttachedCollisionObject	buildAttachedObjectAtPose (const moveit_msgs::msg::CollisionObject &source, std::string_view link_name, const std::vector< std::string > &touch_links, const geometry_msgs::msg::Transform &relative_transform)
	Build an attach operation that places an object at a chosen pose relative to a robot link.
tl::expected< void, std::string >	validateDistanceFieldParameters (const std::vector< double > &bbox_min, const std::vector< double > &bbox_max, double resolution, double max_distance)
	Validate the inputs required to build a propagation distance field.
tl::expected< std::shared_ptr< const moveit_pro::base::distance_field::DistanceField >, std::string >	computeSdfFromPlanningScene (const moveit_pro::base::planning_scene::PlanningScene &planning_scene, const DistanceFieldParameters &parameters)
	Build a propagation distance field from a planning scene.
tl::expected< bool, std::string >	evaluateDetach (std::string_view object_id, const moveit_msgs::msg::PlanningScene &scene)
	Decide whether a detach diff is needed for an id in a planning scene.
tl::expected< std::vector< Eigen::Isometry3d >, std::string >	generateCoveragePath (const Eigen::Isometry3d &bottom_right_corner, const double width, const double height, const double stride_distance)
	Generates a zig-zag path for a robot end-effector to follow, to cover a given area.
tl::expected< std::vector< ObjectWithDistance >, std::string >	calculateClosestObjectToPose (const tf2_ros::Buffer &buffer, const std::vector< moveit_studio_vision_msgs::msg::GraspableObject > &objects, const geometry_msgs::msg::PoseStamped &pose)
	Get the closest object to the provided pose.
moveit_msgs::msg::CollisionObject	buildMoveCollisionObject (std::string_view object_id, const geometry_msgs::msg::PoseStamped &pose)
	Builds a CollisionObject carrying the MOVE operation for the given id and pose.
tl::expected< std::size_t, std::string >	findExistingWorldObject (std::string_view object_id, const moveit_msgs::msg::PlanningScene &scene)
	Locates the world entry that a MOVE should target.
std::string	formatProfileError (const cartesian_planning::TrapezoidalProfileError &error)
	Turn a Cartesian trapezoidal infeasibility into an operator-facing message that names the port to change.
bool	start_recording_callback (std::atomic_bool &start_recording_flag, std::condition_variable &cv)
bool	stop_recording_callback (std::atomic_bool &stop_recording_flag, std::atomic_bool &start_recording_flag, std::atomic_bool &error_flag, std::string &error, std::condition_variable &cv, std::mutex &mtx)
void	joint_state_callback (std::atomic_bool &start_recording_flag, std::atomic_bool &stop_recording_flag, trajectory_msgs::msg::JointTrajectory &joint_trajectory_msg, const sensor_msgs::msg::JointState &joint_state_msg, const std::set< std::string, std::less<> > &joints_to_record, rclcpp::Time &start_time_for_recording, const rclcpp::Time &node_time, rclcpp::Time &timeout_start, const double timeout, std::atomic_bool &error_flag, std::string &error, std::condition_variable &cv, std::mutex &mtx)
tl::expected< void, std::string >	waitForServiceCallsAndErrors (std::atomic_bool &stop_recording_flag, std::atomic_bool &start_recording_flag, std::atomic_bool &error_flag, std::string &error, std::condition_variable &cv, std::mutex &mtx)
tl::expected< void, std::string >	downsampleJointTrajectory (const moveit_pro::base::JointModelGroup &group, trajectory_msgs::msg::JointTrajectory &joint_trajectory_msg, const double joint_space_step)
void	onHaltedFcn (rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr &start_recording_service, rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr &stop_recording_service, rclcpp::Subscription< sensor_msgs::msg::JointState >::SharedPtr &joint_state_subscriber, std::atomic_bool &error_flag, std::string &error, std::condition_variable &cv, std::mutex &mtx)
tl::expected< bool, std::string >	validateRemovable (std::string_view object_id, const moveit_msgs::msg::PlanningScene &scene)
	Validate that an id is removable from a planning scene.
tl::expected< ApplyPlanningScene::Request, std::string >	createRemoveCollisionObjectFromPlanningSceneRequest (const std::string &object_id, moveit_msgs::msg::PlanningScene &planning_scene)
bool	collisionObjectInScene (const moveit_msgs::msg::PlanningScene &scene, std::string_view name)
	Whether a name appears as a collision object id in the given planning scene message.
tl::expected< std::vector< std::string >, std::string >	resolveCollisionEntity (const moveit_pro::base::RobotModel &robot_model, const std::function< bool(std::string_view)> &is_collision_object, std::string_view name)
	Resolve a user-supplied name to the Allowed Collision Matrix entity name(s) it refers to.
tl::expected< moveit_msgs::msg::AllowedCollisionMatrix, std::string >	buildUpdatedAcm (const moveit_pro::base::RobotModel &robot_model, const moveit_msgs::msg::PlanningScene &scene, std::string_view name_a, std::string_view name_b, bool allow_collision)
	Apply a collision rule to the Allowed Collision Matrix read from a planning scene.
tl::expected< rclcpp::Parameter, std::string >	parseParameterValue (const std::string &parameter_name, std::string_view value, const std::string &type)
	Parse a string value into an rclcpp::Parameter of the specified type.
std::set< std::string, std::less<> >	findConflictingControllers (const std::vector< std::string > &controllers_to_activate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find the controllers that are in conflict with the ones to activate.
std::vector< std::string >	filterAlreadyActiveControllers (const std::vector< std::string > &activate_controllers, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Filter out controllers that are already active from the activation list.
std::vector< std::string >	filterAlreadyInactiveControllers (const std::vector< std::string > &deactivate_controllers, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Filter out controllers that are already inactive from the deactivation list.
std::set< std::string, std::less<> >	findPrecedingControllers (const std::vector< std::string > &controllers_to_deactivate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find preceding controllers in the controller chain that must be deactivated first.
std::set< std::string, std::less<> >	findFollowingControllers (const std::vector< std::string > &controllers_to_activate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find following controllers in the controller chain that must be activated first.
GetPoseFromUserSrv::Request	createGetPoseFromUserRequest (std::string_view view_name, std::string_view pose_prompt, bool is_normal)
	Creates a GetPoseFromUserSrv::Request for requesting a Pose from the UI.
tl::expected< std::vector< moveit_task_constructor_msgs::msg::Solution >, std::string >	splitSolutionAtIndex (const moveit_task_constructor_msgs::msg::Solution solution_in, const std::size_t index)
	Split an MTC Solution message in two by dividing its vector of subtrajectories at the specified index.
BT::NodeStatus	appendAddCollisionObjectStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, tl::expected< moveit_msgs::msg::CollisionObject, std::string > collision_object, std::string_view shape_label, bool overwrite)
	Append a ModifyPlanningScene stage that adds collision_object to the planning scene.
tl::expected< void, std::string >	applyAddCollisionObject (moveit_pro::base::planning_scene::PlanningScene &scene, const moveit_msgs::msg::CollisionObject &object, bool overwrite)
	Add object to scene, rejecting a duplicate id unless overwrite is true.
BT::NodeStatus	appendRemoveCollisionObjectStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, const std::string &object_id)
	Append a ModifyPlanningScene stage that removes the collision object object_id.
BT::NodeStatus	appendAttachOrDetachStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, const AttachOrDetachStageRequest &request)
	Append a ModifyPlanningScene stage that attaches or detaches an object to/from a link.
tl::expected< moveit_msgs::msg::AttachedCollisionObject, std::string >	buildFixedPoseAttachedObject (const moveit_pro::base::planning_scene::PlanningScene &scene, const std::string &object_id, std::string_view link_name, const geometry_msgs::msg::Transform &transform)
	Build the AttachedCollisionObject that places world object object_id at transform (interpreted as link_T_object) relative to link_name.
geometry_msgs::msg::PoseWithCovarianceStamped	makeInitialPose (const geometry_msgs::msg::TransformStamped &transform, double xy_variance, double yaw_variance)
	Builds an AMCL initial-pose message from a TF transform.
tl::expected< bool, std::string >	isObjectSimilar (const tf2_ros::Buffer &buffer, const moveit_studio_vision_msgs::msg::GraspableObject &input, const moveit_studio_vision_msgs::msg::GraspableObject &reference, const std::string &base_frame, const double distance_threshold, const double orientation_threshold)
	Helper function to check if two GraspableObjects are similar within some tolerance.
tl::expected< cv::Mat, std::string >	resizeExemplar (const cv::Mat &exemplar, int target_height)
	Resize exemplar image maintaining aspect ratio to match target height.
std::vector< NormalizedBox >	combineBboxes (const std::vector< vision_msgs::msg::BoundingBox2D > &target_bboxes, const std::vector< vision_msgs::msg::BoundingBox2D > &exemplar_bboxes, const CombinedImageResult &combined_result)
	Rescale, offset, and normalize all bounding boxes into a single prompt vector.
tl::expected< PostProcessResult, std::string >	postProcessMasks (const moveit_pro_ml::SAM3Detect::Result &prediction, const CombinedImageResult &combined_image, const std_msgs::msg::Header &image_header)
	Convert SAM3 output masks to ROS messages and format scores.
void	warnIfCpuFallback (const std::string &behavior_name, const std::shared_ptr< BehaviorContext > &shared_resources, bool is_cpu_fallback)
tl::expected< std::vector< cv::Mat >, std::string >	refineAndSplit (const moveit_pro_ml::SAM2Automasking::Result &logits, int original_width, int original_height, float nms_threshold, int min_component_area)
	Refine and split SAM2 masks with NMS, component splitting, and upscaling.
std::string	formatImageMetadata (const sensor_msgs::msg::Image &image_msg)
	Returns a one-line human-readable summary of an image's metadata fields.
tl::expected< void, std::string >	validateImageMetadata (const sensor_msgs::msg::Image &image_msg)
	Validate that an image message's metadata fields are internally consistent.
tl::expected< std::vector< ObjectWithDistance >, std::string >	calculateClosestObjectToPose (const tf2_ros::Buffer &buffer, const std::vector< GraspableObject > &graspable_objects, const geometry_msgs::msg::PoseStamped &pose)
tl::expected< bool, std::string >	isObjectSimilar (const tf2_ros::Buffer &buffer, const GraspableObject &input, const GraspableObject &reference, const std::string &base_frame, const double distance_threshold, const double orientation_threshold)
geometry_msgs::msg::PointStamped	get_mask_center (const moveit_studio_vision_msgs::msg::Mask2D &mask)
bool	clientMustBeRecreated (const std::shared_ptr< rclcpp_action::ClientBase > &client, const std::string_view old_action_name, const std::string_view new_action_name)
	Compare an action client's current configuration to the desired new configuration to determine if the client needs to be recreated.
constexpr std::string_view	toString (Subcategory subcategory)
	Returns the canonical display string for a Subcategory value.
template<typename... Args>
std::optional< std::string >	maybe_error (BT::Expected< Args >... args)
	Check if any of the provided inputs represent error states and, if so, return their error messages.
template<typename E , typename... Args>
constexpr std::optional< E >	maybe_error (tl::expected< Args, E >... args)
	Tests if any of the expected args passed in has an error.
template<typename T >
std::optional< T >	convertExpectedToOptional (BT::Expected< T > exp)
template<typename... Args>
std::tuple< std::optional< Args >... >	getOptionalInputs (BT::Expected< Args >... args)
template<typename T >
bool	shouldWarnOnMissingBlackboardEntry (const nonstd::expected< T, BT::PortInputError > &exp)
template<typename T >
std::optional< T >	convertDiagnosticExpectedToOptional (nonstd::expected< T, BT::PortInputError > exp, std::string_view node_path, std::string_view port_key)
template<typename... Args>
std::tuple< std::optional< Args >... >	getOptionalInputs (const BT::TreeNode &node, std::pair< std::string_view, nonstd::expected< Args, BT::PortInputError > >... args)
template<typename... Args>
tl::expected< std::tuple< Args... >, std::string >	getRequiredInputs (BT::Expected< Args >... args)
std::pair< std::string, std::string >	MakeDeprecatedMetadata (std::string_view detail)
	Makes the metadata key value pair to mark a behavior as deprecated.
bool	normalize_orientation (geometry_msgs::msg::Quaternion &orientation)
	Normalize a quaternion to ensure it is a unit quaternion.
template<typename T >
bool	normalize_orientation_msg (T &msg)
bool	shouldRecreatePublisher (const std::shared_ptr< rclcpp::PublisherBase > &publisher, const std::string_view topic_name, const size_t queue_size, const rclcpp::ReliabilityPolicy reliability_policy)
	Compare a publisher's current configuration to the desired new configuration to determine if the publisher needs to be recreated.
bool	clientMustBeRecreated (const std::shared_ptr< rclcpp::ClientBase > &client, const std::string_view new_service_name)
	Compare a service client's current configuration to the desired new configuration to determine if the client needs to be recreated.
template<typename T >
BT::NodeBuilder	getDefaultNodeBuilder ()
	Helper function to create a BT::NodeBuilder for a behavior tree node with the default constructor signature.
template<typename T >
BT::NodeBuilder	getSharedResourcesNodeBuilder (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)
	Helper function to create a BT::NodeBuilder for a behavior tree node which takes shared_ptr<BehaviorContext> as an additional constructor parameter.
template<typename T >
void	registerBehavior (BT::BehaviorTreeFactory &factory, const std::string &name)
	Helper function to register a behavior with the default constructor signature with a BT::BehaviorTreeFactory.
template<typename T >
void	registerBehavior (BT::BehaviorTreeFactory &factory, const std::string &name, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)
	Helper function to register a behavior derived from SharedResourcesNode with a BT::BehaviorTreeFactory.

Variables
constexpr auto	kClearOctomapServiceName = "clear_octomap"
	Constant service name used by the MoveIt ClearOctomap MoveGroup capability.
constexpr auto	kPortIdTargetMotionState = "target_motion_state"
constexpr auto	kPortIdTargetPoseOffset = "target_pose_offset"
constexpr auto	kPortIdEndEffectorFrame = "end_effector_frame"
constexpr auto	kPortIdProportionalGainLinear = "proportional_gain_linear"
constexpr auto	kPortIdProportionalGainAngular = "proportional_gain_angular"
constexpr auto	kPortIdOutputControlVelocity = "output_control_velocity"
constexpr auto	kPortIdOutputErrorPose = "output_pose_error"
constexpr auto	kDescriptionAddPoseStampedToVector
constexpr auto	kDescriptionClearPoseStampedVector
constexpr auto	kDescriptionResetVector
constexpr auto	kDescriptionReversePoseStampedVector
constexpr auto	kDescriptionReverseVector
constexpr auto	kPortIdOdometryTopicName = "odometry_topic_name"
constexpr auto	kPortIdOdometry = "subscribed_odometry"
constexpr auto	kPortIdOdometryPose = "odometry_pose"
constexpr auto	kPortIdPose = "pose"
constexpr auto	kPortIdPositionTolerance = "position_tolerance"
constexpr auto	kPortIdRotationTolerance = "rotation_tolerance"
constexpr auto	kDescriptionPublishEmpty
constexpr auto	kDescriptionPublishString
constexpr auto	kDescriptionRegisterPointClouds
constexpr auto	kDefaultPackageNamePort = "package_name"
constexpr char	kSubcategoryMetadataKey [] = "subcategory"
constexpr char	kDescriptionMetadataKey [] = "description"
constexpr char	kDeprecatedMetadataKey [] = "deprecated"

Typedef Documentation

AddPoseStampedToVector

using moveit_pro::behaviors::AddPoseStampedToVector = typedef AddToVector<geometry_msgs::msg::PoseStamped>

AddPoseStampedToVector Behavior: the geometry_msgs::msg::PoseStamped specialization of AddToVector.

AddURDFSrv

typedef moveit_studio_agent_msgs::srv::AddURDF moveit_pro::behaviors::AddURDFSrv

AdjustPose

using moveit_pro::behaviors::AdjustPose = typedef moveit_studio_internal_msgs::srv::AdjustPose

ApplyPlanningScene

typedef moveit_msgs::srv::ApplyPlanningScene moveit_pro::behaviors::ApplyPlanningScene

AttachURDFSrv

typedef moveit_studio_agent_msgs::srv::AttachURDF moveit_pro::behaviors::AttachURDFSrv

ComputePathToPose

using moveit_pro::behaviors::ComputePathToPose = typedef nav2_msgs::action::ComputePathToPose

DetachOrRemoveURDFSrv

typedef moveit_studio_agent_msgs::srv::DetachOrRemoveURDF moveit_pro::behaviors::DetachOrRemoveURDFSrv

DoTeleoperate

using moveit_pro::behaviors::DoTeleoperate = typedef moveit_studio_sdk_msgs::action::DoTeleoperate

EditWaypoints

using moveit_pro::behaviors::EditWaypoints = typedef moveit_studio_agent_msgs::srv::EditWaypoints

ExecuteTaskSolution

using moveit_pro::behaviors::ExecuteTaskSolution = typedef moveit_task_constructor_msgs::action::ExecuteTaskSolution

FollowJointTrajectory

using moveit_pro::behaviors::FollowJointTrajectory = typedef control_msgs::action::FollowJointTrajectory

FollowPath

using moveit_pro::behaviors::FollowPath = typedef nav2_msgs::action::FollowPath

GetPlanningScene

typedef moveit_msgs::srv::GetPlanningScene moveit_pro::behaviors::GetPlanningScene

GetPoseFromUserSrv

using moveit_pro::behaviors::GetPoseFromUserSrv = typedef moveit_studio_internal_msgs::srv::GetPoseFromUser

GripperCommand

using moveit_pro::behaviors::GripperCommand = typedef control_msgs::action::GripperCommand

ListControllersSrv

using moveit_pro::behaviors::ListControllersSrv = typedef controller_manager_msgs::srv::ListControllers

LoadHeaderFromYaml

using moveit_pro::behaviors::LoadHeaderFromYaml = typedef LoadFromYaml<std_msgs::msg::Header>

LoadHeaderFromYaml Behavior: the std_msgs::msg::Header specialization of LoadFromYaml.

LoadHeaderVectorFromYaml

using moveit_pro::behaviors::LoadHeaderVectorFromYaml = typedef LoadMultipleFromYaml<std_msgs::msg::Header>

LoadHeaderVectorFromYaml Behavior: the std_msgs::msg::Header specialization of LoadMultipleFromYaml.

LoadJointTrajectoryFromYaml

using moveit_pro::behaviors::LoadJointTrajectoryFromYaml = typedef LoadFromYaml<trajectory_msgs::msg::JointTrajectory>

LoadJointTrajectoryFromYaml Behavior: the trajectory_msgs::msg::JointTrajectory specialization of LoadFromYaml.

LoadObjectSubframeFromYaml

using moveit_pro::behaviors::LoadObjectSubframeFromYaml = typedef LoadFromYaml<moveit_studio_vision_msgs::msg::ObjectSubframe>

LoadObjectSubframeFromYaml Behavior: the moveit_studio_vision_msgs::msg::ObjectSubframe specialization of LoadFromYaml.

LoadPointStampedFromYaml

using moveit_pro::behaviors::LoadPointStampedFromYaml = typedef LoadFromYaml<geometry_msgs::msg::PointStamped>

LoadPointStampedFromYaml Behavior: the geometry_msgs::msg::PointStamped specialization of LoadFromYaml.

LoadPointStampedVectorFromYaml

using moveit_pro::behaviors::LoadPointStampedVectorFromYaml = typedef LoadMultipleFromYaml<geometry_msgs::msg::PointStamped>

LoadPointStampedVectorFromYaml Behavior: the geometry_msgs::msg::PointStamped specialization of LoadMultipleFromYaml.

LoadPoseFromYaml

using moveit_pro::behaviors::LoadPoseFromYaml = typedef LoadFromYaml<geometry_msgs::msg::Pose>

LoadPoseFromYaml Behavior: the geometry_msgs::msg::Pose specialization of LoadFromYaml.

LoadPoseStampedFromYaml

using moveit_pro::behaviors::LoadPoseStampedFromYaml = typedef LoadFromYaml<geometry_msgs::msg::PoseStamped>

LoadPoseStampedFromYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of LoadFromYaml.

LoadPoseStampedVectorFromYaml

using moveit_pro::behaviors::LoadPoseStampedVectorFromYaml = typedef LoadMultipleFromYaml<geometry_msgs::msg::PoseStamped>

LoadPoseStampedVectorFromYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of LoadMultipleFromYaml.

LoadPoseVectorFromYaml

using moveit_pro::behaviors::LoadPoseVectorFromYaml = typedef LoadMultipleFromYaml<geometry_msgs::msg::Pose>

LoadPoseVectorFromYaml Behavior: the geometry_msgs::msg::Pose specialization of LoadMultipleFromYaml.

LoadQuaternionFromYaml

using moveit_pro::behaviors::LoadQuaternionFromYaml = typedef LoadFromYaml<geometry_msgs::msg::Quaternion>

LoadQuaternionFromYaml Behavior: the geometry_msgs::msg::Quaternion specialization of LoadFromYaml.

LoadRobotJointStateFromYaml

using moveit_pro::behaviors::LoadRobotJointStateFromYaml = typedef LoadFromYaml<moveit_studio_agent_msgs::msg::RobotJointState>

LoadRobotJointStateFromYaml Behavior: the moveit_studio_agent_msgs::msg::RobotJointState specialization of LoadFromYaml.

LoadSubframesFromYaml

using moveit_pro::behaviors::LoadSubframesFromYaml = typedef LoadMultipleFromYaml<moveit_studio_vision_msgs::msg::ObjectSubframe>

LoadSubframesFromYaml Behavior: the moveit_studio_vision_msgs::msg::ObjectSubframe specialization of LoadMultipleFromYaml.

LoadTransformFromYaml

using moveit_pro::behaviors::LoadTransformFromYaml = typedef LoadFromYaml<geometry_msgs::msg::Transform>

LoadTransformFromYaml Behavior: the geometry_msgs::msg::Transform specialization of LoadFromYaml.

LoadTransformStampedFromYaml

using moveit_pro::behaviors::LoadTransformStampedFromYaml = typedef LoadFromYaml<geometry_msgs::msg::TransformStamped>

LoadTransformStampedFromYaml Behavior: the geometry_msgs::msg::TransformStamped specialization of LoadFromYaml.

LoadVector3FromYaml

using moveit_pro::behaviors::LoadVector3FromYaml = typedef LoadFromYaml<geometry_msgs::msg::Vector3>

LoadVector3FromYaml Behavior: the geometry_msgs::msg::Vector3 specialization of LoadFromYaml.

NavigateThroughPoses

using moveit_pro::behaviors::NavigateThroughPoses = typedef nav2_msgs::action::NavigateThroughPoses

NavigateToPose

using moveit_pro::behaviors::NavigateToPose = typedef nav2_msgs::action::NavigateToPose

NchwTensor

using moveit_pro::behaviors::NchwTensor = typedef moveit_pro_ml::onnx::Tensor<float, moveit_pro_ml::onnx::tensor_format::NCHW>

NormalizedBox

using moveit_pro::behaviors::NormalizedBox = typedef moveit_pro_ml::onnx::Box<moveit_pro_ml::onnx::box_format::CXCYWH, moveit_pro_ml::onnx::coord_system::Normalized>

Normalized CXCYWH box in SAM3 inference coordinate space.

RequestPointsFromUser

using moveit_pro::behaviors::RequestPointsFromUser = typedef moveit_studio_internal_msgs::srv::RequestPointsFromUser

RequestTextFromUser

using moveit_pro::behaviors::RequestTextFromUser = typedef moveit_studio_internal_msgs::srv::RequestTextFromUser

ResetPoseStampedVector

using moveit_pro::behaviors::ResetPoseStampedVector = typedef ResetVector<geometry_msgs::msg::PoseStamped>

ResetPoseStampedVector Behavior: the geometry_msgs::msg::PoseStamped specialization of ResetVector.

RetrieveJointState

using moveit_pro::behaviors::RetrieveJointState = typedef moveit_studio_agent_msgs::srv::RetrieveJointState

RetrievePose

using moveit_pro::behaviors::RetrievePose = typedef moveit_studio_agent_msgs::srv::RetrievePose

ReversePoseStampedVector

using moveit_pro::behaviors::ReversePoseStampedVector = typedef ReverseVector<geometry_msgs::msg::PoseStamped>

ReversePoseStampedVector Behavior: the geometry_msgs::msg::PoseStamped specialization of ReverseVector.

SaveHeaderToYaml

using moveit_pro::behaviors::SaveHeaderToYaml = typedef SaveToYaml<std_msgs::msg::Header>

SaveHeaderToYaml Behavior: the std_msgs::msg::Header specialization of SaveToYaml.

SaveJointTrajectoryToYaml

using moveit_pro::behaviors::SaveJointTrajectoryToYaml = typedef SaveToYaml<trajectory_msgs::msg::JointTrajectory>

SaveJointTrajectoryToYaml Behavior: the trajectory_msgs::msg::JointTrajectory specialization of SaveToYaml.

SavePointStampedToYaml

using moveit_pro::behaviors::SavePointStampedToYaml = typedef SaveToYaml<geometry_msgs::msg::PointStamped>

SavePointStampedToYaml Behavior: the geometry_msgs::msg::PointStamped specialization of SaveToYaml.

SavePoseStampedToYaml

using moveit_pro::behaviors::SavePoseStampedToYaml = typedef SaveToYaml<geometry_msgs::msg::PoseStamped>

SavePoseStampedToYaml Behavior: the geometry_msgs::msg::PoseStamped specialization of SaveToYaml.

SavePoseToYaml

using moveit_pro::behaviors::SavePoseToYaml = typedef SaveToYaml<geometry_msgs::msg::Pose>

SavePoseToYaml Behavior: the geometry_msgs::msg::Pose specialization of SaveToYaml.

SaveQuaternionToYaml

using moveit_pro::behaviors::SaveQuaternionToYaml = typedef SaveToYaml<geometry_msgs::msg::Quaternion>

SaveQuaternionToYaml Behavior: the geometry_msgs::msg::Quaternion specialization of SaveToYaml.

SaveRobotJointStateToYaml

using moveit_pro::behaviors::SaveRobotJointStateToYaml = typedef SaveToYaml<moveit_studio_agent_msgs::msg::RobotJointState>

SaveRobotJointStateToYaml Behavior: the moveit_studio_agent_msgs::msg::RobotJointState specialization of SaveToYaml.

SaveTransformStampedToYaml

using moveit_pro::behaviors::SaveTransformStampedToYaml = typedef SaveToYaml<geometry_msgs::msg::TransformStamped>

SaveTransformStampedToYaml Behavior: the geometry_msgs::msg::TransformStamped specialization of SaveToYaml.

SaveTransformToYaml

using moveit_pro::behaviors::SaveTransformToYaml = typedef SaveToYaml<geometry_msgs::msg::Transform>

SaveTransformToYaml Behavior: the geometry_msgs::msg::Transform specialization of SaveToYaml.

SaveVector3ToYaml

using moveit_pro::behaviors::SaveVector3ToYaml = typedef SaveToYaml<geometry_msgs::msg::Vector3>

SaveVector3ToYaml Behavior: the geometry_msgs::msg::Vector3 specialization of SaveToYaml.

SendPointCloud2

using moveit_pro::behaviors::SendPointCloud2 = typedef moveit_studio_agent_msgs::srv::SendPointCloud2

SetParameters

using moveit_pro::behaviors::SetParameters = typedef rcl_interfaces::srv::SetParameters

StoreUidMap

using moveit_pro::behaviors::StoreUidMap = typedef moveit_studio_internal_msgs::srv::StoreUidMap

SwitchControllerSrv

using moveit_pro::behaviors::SwitchControllerSrv = typedef controller_manager_msgs::srv::SwitchController

Trigger

using moveit_pro::behaviors::Trigger = typedef std_srvs::srv::Trigger

WaitForUserPathApprovalSrv

using moveit_pro::behaviors::WaitForUserPathApprovalSrv = typedef moveit_studio_internal_msgs::srv::WaitForUserPathApproval

Enumeration Type Documentation

CropOrRemovePointsInBoxModes

enum class moveit_pro::behaviors::CropOrRemovePointsInBoxModes

strong

Base class for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined relative to its centroid.

For CropPointsInBox:

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
crop_box_centroid_pose	input	geometry_msgs::msg::PoseStamped
crop_box_size	input	std::vector<double>
point_cloud_cropped	output	sensor_msgs::msg::PointCloud2

For RemovePointsInBox:

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
remove_box_centroid_pose	input	geometry_msgs::msg::PoseStamped
remove_box_size	input	std::vector<double>
point_cloud_culled	output	sensor_msgs::msg::PointCloud2

Enumerator
CROP
REMOVE

Subcategory

enum class moveit_pro::behaviors::Subcategory

strong

Canonical subcategory values used by Behavior metadata.

The display strings returned by toString() are the single source of truth shown in the Behavior Hub UI. A strongly-typed enum combined with a switch-based toString() helper ensures the compiler (via -Wswitch) flags any missing case at compile time, preventing silent drift or typos.

Enumerator
MotionTaskPlanning
MotionPlanning
MotionExecute
MotionControls
Perception3DPointCloud
Perception2DImage
PerceptionML
PerceptionPlanningScene
PerceptionCameraCalibration
VectorHandling
PoseHandling
YAMLHandling
StringHandling
UserInput
Utility
Grasping
Visualization
Navigation
ROSMessaging
PlanningSceneModification
ControlFlow
Conversions
SimulationMuJoCo
UserCreatedBehaviors

Function Documentation

appendAddCollisionObjectStage()

BT::NodeStatus moveit_pro::behaviors::appendAddCollisionObjectStage	(	const BehaviorContext &	shared_resources,
		const std::string &	behavior_name,
		moveit_pro::task_constructor::Task &	task,
		tl::expected< moveit_msgs::msg::CollisionObject, std::string >	collision_object,
		std::string_view	shape_label,
		bool	overwrite
	)

Append a ModifyPlanningScene stage that adds collision_object to the planning scene.

Shared tail for the four SetupMTCAddCollision* Behaviors. Validates the tl::expected returned by the shape-specific buildXCollisionObject helper, forces the operation to ADD, and wraps the object in a ModifyPlanningScene stage named add <shape_label> (<object_id>) that is inserted into task.

An MTC stage has no scene at Behavior-tick time, so the object is added when the planner runs the stage, against the scene it has built (the SetupMTCCurrentState snapshot plus earlier stage diffs); the live scene is never touched. The same callback rejects a duplicate id unless overwrite is true, so the duplicate check observes the pipeline scene. ModifyPlanningScene runs the callback without its invert flag, so the add applies in the forward direction only.

Returns FAILURE and publishes the error through shared_resources's logger when collision_object is unexpected. Returns SUCCESS on the happy path. A duplicate-id rejection surfaces later as a planning failure, not as a tick-time FAILURE.

appendAttachOrDetachStage()

BT::NodeStatus moveit_pro::behaviors::appendAttachOrDetachStage	(	const BehaviorContext &	shared_resources,
		const std::string &	behavior_name,
		moveit_pro::task_constructor::Task &	task,
		const AttachOrDetachStageRequest &	request
	)

Append a ModifyPlanningScene stage that attaches or detaches an object to/from a link.

Shared body for SetupMTCAttachObjectByID and SetupMTCDetachObjectByID. Validates that request.object_id is non-empty and request.link_name names a link in the task's robot model. When attaching, the stage is named attach object (<object_id>) to frame (<link_name>) and any request.allowed_collision_links are written as ACM entries allowing collisions between the attached object and each listed link. When detaching, the stage is named detach object (<object_id>) from frame (<link_name>) and the collision-link and transform fields are ignored.

When attaching with request.relative_transform set, the object is attached at that fixed pose relative to the link (interpreted as link_T_object) instead of at its current pose. An MTC stage has no scene at Behavior-tick time, so the attach message is assembled when the planner runs the stage: the object's geometry is sourced from the world object with this id in the scene the planner has built, and planning fails if no such world object exists then. An already-attached object is not re-posed.

Returns FAILURE and publishes the error through shared_resources's logger when validation fails. Returns SUCCESS on the happy path.

appendRemoveCollisionObjectStage()

BT::NodeStatus moveit_pro::behaviors::appendRemoveCollisionObjectStage	(	const BehaviorContext &	shared_resources,
		const std::string &	behavior_name,
		moveit_pro::task_constructor::Task &	task,
		const std::string &	object_id
	)

Append a ModifyPlanningScene stage that removes the collision object object_id.

Body of SetupMTCRemoveCollisionObject. Returns FAILURE (and logs through shared_resources) when object_id is empty. Otherwise inserts a ModifyPlanningScene stage named remove object (<object_id>) into task. The world removal is deferred to plan time and is a no-op for an id absent from the world; a stage callback additionally rejects, at plan time, removing an id that is currently attached to the robot (a planning failure), so a removal cannot silently leave an attached object in place. The check uses the MTC pipeline scene, not the live scene.

applyAddCollisionObject()

tl::expected< void, std::string > moveit_pro::behaviors::applyAddCollisionObject	(	moveit_pro::base::planning_scene::PlanningScene &	scene,
		const moveit_msgs::msg::CollisionObject &	object,
		bool	overwrite
	)

Add object to scene, rejecting a duplicate id unless overwrite is true.

Used by appendAddCollisionObjectStage inside the stage's plan-time callback, so the check runs against the scene the MTC planner has built, never the live scene. When overwrite is true an existing world object with this id is replaced (CollisionObject ADD remove-then-add semantics); when false a duplicate id is rejected before the scene is modified.

Returns

Empty on success, or an error string when the id already exists and overwrite is false, or when the scene rejects the object.

buildAttachedObjectAtPose()

moveit_msgs::msg::AttachedCollisionObject moveit_pro::behaviors::buildAttachedObjectAtPose	(	const moveit_msgs::msg::CollisionObject &	source,
		std::string_view	link_name,
		const std::vector< std::string > &	touch_links,
		const geometry_msgs::msg::Transform &	relative_transform
	)

Build an attach operation that places an object at a chosen pose relative to a robot link.

Parameters

source	The collision object to attach, taken from wherever it currently lives (a free world object, or the inner object of an attached entry when re-posing). Its shapes and shape poses are carried over unchanged.
link_name	Robot link to attach the object to.
touch_links	Links allowed to touch the attached object.
relative_transform	Desired transform of the object origin frame in the link frame (link_T_object).

Returns

An AttachedCollisionObject with ADD operation whose object carries source's geometry expressed in link_name at relative_transform. Sending this in a diff (live mode) makes MoveIt place the object at relative_transform; the matching world object, if any, is removed in the same operation.

buildBoxCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::buildBoxCollisionObject	(	std::string_view	object_id,
		const std::vector< double > &	dimensions,
		const geometry_msgs::msg::PoseStamped &	pose
	)

Builds a CollisionObject for a box.

Parameters

object_id	Unique name for the object. Must not be empty.
dimensions	Box dimensions [x, y, z] in meters. Must contain exactly 3 elements, each finite and greater than 0.
pose	Pose of the box. The header.frame_id must not be empty.

Returns

The CollisionObject on success, or an error message on failure.

buildCylinderCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::buildCylinderCollisionObject	(	std::string_view	object_id,
		double	height,
		double	radius,
		const geometry_msgs::msg::PoseStamped &	pose
	)

Builds a CollisionObject for a cylinder.

Parameters

object_id	Unique name for the object. Must not be empty.
height	Cylinder height in meters. Must be finite and greater than 0.
radius	Cylinder radius in meters. Must be finite and greater than 0.
pose	Pose of the cylinder. The header.frame_id must not be empty.

Returns

The CollisionObject on success, or an error message on failure.

buildFixedPoseAttachedObject()

tl::expected< moveit_msgs::msg::AttachedCollisionObject, std::string > moveit_pro::behaviors::buildFixedPoseAttachedObject	(	const moveit_pro::base::planning_scene::PlanningScene &	scene,
		const std::string &	object_id,
		std::string_view	link_name,
		const geometry_msgs::msg::Transform &	transform
	)

Build the AttachedCollisionObject that places world object object_id at transform (interpreted as link_T_object) relative to link_name.

Sources the object's geometry from the world collision object with this id in scene. Used by appendAttachOrDetachStage to attach an object at a fixed pose.

Returns

The attach message on success, or an error string if no world collision object with object_id exists in scene.

buildMeshCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::buildMeshCollisionObject	(	std::string_view	object_id,
		std::string_view	mesh_file_path,
		const geometry_msgs::msg::PoseStamped &	pose,
		const std::vector< double > &	scale
	)

Builds a CollisionObject for a mesh loaded from a resource URI.

Parameters

object_id	Unique name for the object. Must not be empty.
mesh_file_path	Path to the mesh file, typically a package:// or file:// URI to a .stl, .obj, or .dae file. Must not be empty.
pose	Pose of the mesh. The header.frame_id must not be empty.
scale	Per-axis mesh scale as {x; y; z}. Must contain exactly 3 elements; each must be finite and greater than 0.

Returns

The CollisionObject on success, or an error message on failure (including when the mesh resource cannot be loaded).

buildMoveCollisionObject()

moveit_msgs::msg::CollisionObject moveit_pro::behaviors::buildMoveCollisionObject	(	std::string_view	object_id,
		const geometry_msgs::msg::PoseStamped &	pose
	)

Builds a CollisionObject carrying the MOVE operation for the given id and pose.

Parameters

object_id	Id of the existing object to move.
pose	New reference pose for the object. The header carries the frame the pose is in; the live planning scene resolves the frame via TF on the server side.

Returns

A CollisionObject with id, header, pose, and operation = MOVE populated and all shape arrays empty. MoveIt's MOVE handler ignores geometry in the message.

buildSphereCollisionObject()

tl::expected< moveit_msgs::msg::CollisionObject, std::string > moveit_pro::behaviors::buildSphereCollisionObject	(	std::string_view	object_id,
		double	radius,
		const geometry_msgs::msg::PoseStamped &	pose
	)

Builds a CollisionObject for a sphere.

Parameters

object_id	Unique name for the object. Must not be empty.
radius	Sphere radius in meters. Must be finite and greater than 0.
pose	Pose of the sphere. The header.frame_id must not be empty.

Returns

The CollisionObject on success, or an error message on failure.

buildUpdatedAcm()

tl::expected< moveit_msgs::msg::AllowedCollisionMatrix, std::string > moveit_pro::behaviors::buildUpdatedAcm	(	const moveit_pro::base::RobotModel &	robot_model,
		const moveit_msgs::msg::PlanningScene &	scene,
		std::string_view	name_a,
		std::string_view	name_b,
		bool	allow_collision
	)

Apply a collision rule to the Allowed Collision Matrix read from a planning scene.

Resolves both names via resolveCollisionEntity, then sets the allow/forbid state for every pair across the two resolved entity sets. The matrix is read from scene.allowed_collision_matrix, so all existing entries are preserved.

Parameters

robot_model	Robot model used for name resolution.
scene	Planning scene supplying the current ACM and the collision object ids.
name_a	First entity name.
name_b	Second entity name.
allow_collision	If true, collisions between the entities are allowed; if false, forbidden.

Returns

The updated ACM message on success, or a descriptive error if either name fails to resolve.

calculateClosestObjectToPose() [1/2]

tl::expected< std::vector< ObjectWithDistance >, std::string > moveit_pro::behaviors::calculateClosestObjectToPose	(	const tf2_ros::Buffer &	buffer,
		const std::vector< GraspableObject > &	graspable_objects,
		const geometry_msgs::msg::PoseStamped &	pose
	)

calculateClosestObjectToPose() [2/2]

tl::expected< std::vector< ObjectWithDistance >, std::string > moveit_pro::behaviors::calculateClosestObjectToPose	(	const tf2_ros::Buffer &	buffer,
		const std::vector< moveit_studio_vision_msgs::msg::GraspableObject > &	objects,
		const geometry_msgs::msg::PoseStamped &	pose
	)

Get the closest object to the provided pose.

Parameters

objects	Collection of GraspableObjects to evaluate.
pose	Pose to use for distance comparison.

Returns

If successful, returns a vector containing the input GraspableObjects sorted in ascending order by distance to the input pose. Returns a failure state if no qualifying object was found.

clientMustBeRecreated() [1/2]

bool moveit_pro::behaviors::clientMustBeRecreated ( const std::shared_ptr< rclcpp::ClientBase > &  client, const std::string_view  new_service_name  )

inline

Compare a service client's current configuration to the desired new configuration to determine if the client needs to be recreated.

This checks two criteria:

1. Is the client a nullptr? This will be the case the first time this Behavior is ticked in a new Objective, so the client must be created in that case.
2. If the client already exists, does it communicate on a topic with the same name as the name provided through the input data port? If not, the client needs to be reinitialized to use the new topic.

This does NOT check if the client's QoS settings match the ones used by the server, because ServiceClientBehaviorBase always creates clients using the rmw_qos_profile_services_default QoS profile. Also, it is unlikely that a ROS 2 service server would use customized QoS settings.

Parameters

client	The service client to check
new_service_name	The new service name

Returns

True if the client must be recreated to satisfy the new configuration. False if the client's current configuration already satisfies the new configuration.

clientMustBeRecreated() [2/2]

bool moveit_pro::behaviors::clientMustBeRecreated ( const std::shared_ptr< rclcpp_action::ClientBase > &  client, const std::string_view  old_action_name, const std::string_view  new_action_name  )

inline

Compare an action client's current configuration to the desired new configuration to determine if the client needs to be recreated.

This checks two criteria:

1. Is the client a nullptr? This will be the case the first time this Behavior is ticked in a new Objective, so the client must be created in that case.
2. If the client already exists, does it communicate with an action with the same name as the name provided through the input data port? If not, the client needs to be reinitialized to use the new action name.

This does NOT check if the client's QoS settings match the ones used by the server, because ActionClientBehaviorBase always creates clients using the default ROS 2 action client QoS profile. It is also very complex to retrieve the QoS settings for an action server (since it's composed of a collection of services and topics). In any case action clients are almost always created with default QoS settings (or at the very least we've never seen one that used non-default settings).

Parameters

client	The action client to check
new_action_name	The new action name

Returns

True if the client must be recreated to satisfy the new configuration. False if the client's current configuration already satisfies the new configuration.

collisionObjectInScene()

bool moveit_pro::behaviors::collisionObjectInScene	(	const moveit_msgs::msg::PlanningScene &	scene,
		std::string_view	name
	)

Whether a name appears as a collision object id in the given planning scene message.

Scans both the world objects and any objects attached to the robot. Exposed so callers that work from a moveit_msgs::msg::PlanningScene can build the predicate that resolveCollisionEntity expects.

combineBboxes()

std::vector< NormalizedBox > moveit_pro::behaviors::combineBboxes	(	const std::vector< vision_msgs::msg::BoundingBox2D > &	target_bboxes,
		const std::vector< vision_msgs::msg::BoundingBox2D > &	exemplar_bboxes,
		const CombinedImageResult &	combined_result
	)

Rescale, offset, and normalize all bounding boxes into a single prompt vector.

Target boxes are normalized directly against the composite image dimensions. Exemplar boxes are rescaled from original-exemplar pixel space to resized-exemplar pixel space, offset by the target width, then normalized.

Parameters

target_bboxes	Boxes in target image pixel coordinates.
exemplar_bboxes	Boxes in original exemplar image pixel coordinates.
combined_result	Result of combineImages(); provides all dimensions and optional exemplar metadata.

Returns

Vector of normalized CXCYWH boxes ready for SAM3 inference.

computeSdfFromPlanningScene()

tl::expected< std::shared_ptr< const moveit_pro::base::distance_field::DistanceField >, std::string > moveit_pro::behaviors::computeSdfFromPlanningScene	(	const moveit_pro::base::planning_scene::PlanningScene &	planning_scene,
		const DistanceFieldParameters &	parameters
	)

Build a propagation distance field from a planning scene.

Iterates the world objects of the planning scene and adds each shape to the field at its scene-relative pose. Octomap shapes are routed to addOcTreeToField internally by addShapeToField. This is a pure function (no BT or ROS context) so it can be unit-tested deterministically.

Parameters

planning_scene	The planning scene whose world objects should be voxelized.
parameters	The parameters of the distance field to build.

Returns

The constructed distance field on success, or an error message on failure.

convertDiagnosticExpectedToOptional()

template<typename T >

std::optional< T > moveit_pro::behaviors::convertDiagnosticExpectedToOptional ( nonstd::expected< T, BT::PortInputError >  exp, std::string_view  node_path, std::string_view  port_key  )

inline

Convert the diagnostic form of a port read (nonstd::expected<T, BT::PortInputError>) to an std::optional<T>, warn-logging the case where the user wired the port to a blackboard key (e.g. {foo}) but the blackboard never received foo.

Parameters

exp	Diagnostic result from TreeNode::getInputWithDiagnostic<T>().
node_path	Identifier of the tree node that owns the port (typically node.fullPath()).
port_key	Name of the port being read.

convertExpectedToOptional()

template<typename T >

std::optional< T > moveit_pro::behaviors::convertExpectedToOptional ( BT::Expected< T >  exp )

inline

Check if an Expected has a value and return it if so. If not, return an empty optional.

createAddVirtualCollisionObjectToPlanningSceneRequest()

moveit_msgs::srv::ApplyPlanningScene::Request moveit_pro::behaviors::createAddVirtualCollisionObjectToPlanningSceneRequest	(	const moveit_studio_vision_msgs::msg::GraspableObject &	graspable_object,
		const moveit_msgs::msg::PlanningScene &	planning_scene
	)

Creates a ApplyPlanningScene::Request for adding a virtual collision object to the planning scene.

Parameters

graspable_object	The virtual collision object to add to the planning scene
planning_scene	The planning scene

Returns

Returns an appropriately created request.

createGetPoseFromUserRequest()

GetPoseFromUserSrv::Request moveit_pro::behaviors::createGetPoseFromUserRequest	(	std::string_view	view_name,
		std::string_view	pose_prompt,
		bool	is_normal
	)

Creates a GetPoseFromUserSrv::Request for requesting a Pose from the UI.

Parameters

view_name	The view for the user to interact with
pose_prompt	The prompt to give to the user for getting the pose
is_normal	Whether the returned user pose should be normal to the selected face

Returns

Returns an appropriately created request.

createRemoveCollisionObjectFromPlanningSceneRequest()

tl::expected< ApplyPlanningScene::Request, std::string > moveit_pro::behaviors::createRemoveCollisionObjectFromPlanningSceneRequest	(	const std::string &	object_id,
		moveit_msgs::msg::PlanningScene &	planning_scene
	)

downsampleJointTrajectory()

tl::expected< void, std::string > moveit_pro::behaviors::downsampleJointTrajectory	(	const moveit_pro::base::JointModelGroup &	group,
		trajectory_msgs::msg::JointTrajectory &	joint_trajectory_msg,
		const double	joint_space_step
	)

evaluateAttach()

tl::expected< bool, std::string > moveit_pro::behaviors::evaluateAttach	(	std::string_view	object_id,
		std::string_view	link_name,
		const moveit_msgs::msg::PlanningScene &	scene
	)

Decide whether an attach diff is needed for an id in a planning scene.

Parameters

object_id	Id of the object the caller intends to attach. Must not be empty.
link_name	Robot link the caller intends to attach the object to. Must not be empty.
scene	A planning scene that has the WORLD_OBJECT_NAMES and ROBOT_STATE_ATTACHED_OBJECTS components populated.

Returns

true when the id is a free world object and an attach diff is required. false when the id is already attached to link_name: the target state is reached and the caller should treat it as a no-op success. An error if object_id or link_name is empty, if the id is absent from the scene, or if the id is attached to a different link (the caller must detach it first; the object is never silently moved).

evaluateDetach()

tl::expected< bool, std::string > moveit_pro::behaviors::evaluateDetach	(	std::string_view	object_id,
		const moveit_msgs::msg::PlanningScene &	scene
	)

Decide whether a detach diff is needed for an id in a planning scene.

Parameters

object_id	Id of the object the caller intends to detach. Must not be empty.
scene	A planning scene that has the WORLD_OBJECT_NAMES and ROBOT_STATE_ATTACHED_OBJECTS components populated.

Returns

true when the id is in scene.robot_state.attached_collision_objects and a detach diff is required. false when the id is not attached to the robot, whether it is a free world object or absent from the scene entirely: the target state is reached and the caller should treat it as a no-op success. An error if object_id is empty.

filterAlreadyActiveControllers()

std::vector< std::string > moveit_pro::behaviors::filterAlreadyActiveControllers	(	const std::vector< std::string > &	activate_controllers,
		const std::vector< controller_manager_msgs::msg::ControllerState > &	all_controllers
	)

Filter out controllers that are already active from the activation list.

Parameters

activate_controllers	The list of controllers to activate.
all_controllers	The list of all controllers and their states.

Returns

a vector of controllers that are not already active.

filterAlreadyInactiveControllers()

std::vector< std::string > moveit_pro::behaviors::filterAlreadyInactiveControllers	(	const std::vector< std::string > &	deactivate_controllers,
		const std::vector< controller_manager_msgs::msg::ControllerState > &	all_controllers
	)

Filter out controllers that are already inactive from the deactivation list.

Parameters

deactivate_controllers	The list of controllers to deactivate.
all_controllers	The list of all controllers and their states.

Returns

a vector of controllers that are not already inactive.

findConflictingControllers()

std::set< std::string, std::less<> > moveit_pro::behaviors::findConflictingControllers	(	const std::vector< std::string > &	controllers_to_activate,
		const std::vector< controller_manager_msgs::msg::ControllerState > &	all_controllers
	)

Find the controllers that are in conflict with the ones to activate.

This function checks the list of controllers and their states to find any controllers that are in conflict with the ones to activate. A controller is considered in conflict if it has any claimed interfaces that are also claimed by the controllers to be activated.

Parameters

controllers_to_activate	The list of controllers to activate.
all_controllers	The list of all controllers and their states.

Returns

a set of strings containing the names of the controllers that are in conflict.

findExistingWorldObject()

tl::expected< std::size_t, std::string > moveit_pro::behaviors::findExistingWorldObject	(	std::string_view	object_id,
		const moveit_msgs::msg::PlanningScene &	scene
	)

Locates the world entry that a MOVE should target.

Parameters

object_id	Id of the object to move.
scene	Planning scene to search.

Returns

The index of the matching entry in scene.world.collision_objects on success. Returns an error if the id is currently attached to the robot (MOVE for attached objects is not supported; the caller must detach first), or if no world entry has the id. The attached check runs first because its "detach first" guidance is the more specific failure.

findFollowingControllers()

std::set< std::string, std::less<> > moveit_pro::behaviors::findFollowingControllers	(	const std::vector< std::string > &	controllers_to_activate,
		const std::vector< controller_manager_msgs::msg::ControllerState > &	all_controllers
	)

Find following controllers in the controller chain that must be activated first.

In ros2_control, when activating a chained controller, its following (downstream) controllers must be active first because they receive the output of the chained controller. This function recursively finds all following controllers.

Parameters

controllers_to_activate	The list of controllers to activate.
all_controllers	The list of all controllers and their states.

Returns

a set of controller names that are following controllers and should be activated first.

findPrecedingControllers()

std::set< std::string, std::less<> > moveit_pro::behaviors::findPrecedingControllers	(	const std::vector< std::string > &	controllers_to_deactivate,
		const std::vector< controller_manager_msgs::msg::ControllerState > &	all_controllers
	)

Find preceding controllers in the controller chain that must be deactivated first.

In ros2_control, controllers can be chained where one controller's output feeds into another. When deactivating a controller that is part of a chain, its preceding controllers (upstream in the chain) must also be deactivated. This function recursively finds all preceding controllers.

Parameters

controllers_to_deactivate	The list of controllers to deactivate.
all_controllers	The list of all controllers and their states.

Returns

a set of controller names that are preceding controllers and should also be deactivated.

formatImageMetadata()

std::string moveit_pro::behaviors::formatImageMetadata

(

const sensor_msgs::msg::Image &

image_msg

)

Returns a one-line human-readable summary of an image's metadata fields.

Used to attach forensic context to failure messages so that the captured error string contains everything needed to diagnose what was on the blackboard at failure time — width, height, step, encoding, is_bigendian, data.size().

formatProfileError()

std::string moveit_pro::behaviors::formatProfileError

(

const cartesian_planning::TrapezoidalProfileError &

error

)

Turn a Cartesian trapezoidal infeasibility into an operator-facing message that names the port to change.

For a joint-limit failure (required_time_scale > 1) the advice depends on the binding limit and, for an acceleration bottleneck, on the saturating phase: ramp saturation advises lowering the acceleration limits; cruise saturation advises lowering the Cartesian velocity or raising the blending radius, since the acceleration limits do not affect the constant-speed phase. Other failures (size mismatch, non-positive limits) already carry a self-explanatory message and are passed through unchanged.

Parameters

error

The infeasibility diagnostic from cartesian_planning::fitCartesianTrapezoidalVelocityProfile().

Returns

A human-readable, operator-actionable failure message.

generateCoveragePath()

tl::expected< std::vector< Eigen::Isometry3d >, std::string > moveit_pro::behaviors::generateCoveragePath	(	const Eigen::Isometry3d &	bottom_right_corner,
		const double	width,
		const double	height,
		const double	stride_distance
	)

Generates a zig-zag path for a robot end-effector to follow, to cover a given area.

Parameters

bottom_right_corner	The bottom right corner of the area to cover, with X pointing along the 'width' dimension and Y pointing along the 'height' dimension.
width	The width of the area to cover.
height	The height of the area to cover.
stride_distance	The distance between strides in the coverage path.

Returns

A vector of poses that define the coverage path, or an error message.

get_mask_center()

geometry_msgs::msg::PointStamped moveit_pro::behaviors::get_mask_center

(

const moveit_studio_vision_msgs::msg::Mask2D &

mask

)

getDefaultNodeBuilder()

template<typename T >

BT::NodeBuilder moveit_pro::behaviors::getDefaultNodeBuilder ( )

inline

Helper function to create a BT::NodeBuilder for a behavior tree node with the default constructor signature.

Template Parameters

T	Create a builder for this type of node. Must be derived from BT::TreeNode.

Returns

A BT::NodeBuilder that creates a node of type T.

getOptionalInputs() [1/2]

template<typename... Args>

std::tuple< std::optional< Args >... > moveit_pro::behaviors::getOptionalInputs ( BT::Expected< Args >...  args )

inline

Takes any number of BT::Expected (intended for use with the return of getInput()) and converts them to a tuple of std::optionals representing their presence and value.

getOptionalInputs() [2/2]

template<typename... Args>

std::tuple< std::optional< Args >... > moveit_pro::behaviors::getOptionalInputs ( const BT::TreeNode &  node, std::pair< std::string_view, nonstd::expected< Args, BT::PortInputError > >...  args  )

inline

Read any number of optional input ports with diagnostic-aware fallback behavior.

For each (port_key, diagnostic_expected) pair:

• on success, the value is forwarded into the output tuple;
• on BlackboardKeyNotFound, a warning is logged and std::nullopt is returned;
• on any other error, std::nullopt is returned silently.

Intended usage pattern inside a behavior's tick():

const auto optional_ports = getOptionalInputs(
    *this,
    std::pair<std::string_view, nonstd::expected<Foo, BT::PortInputError>>{
        "foo", getInputWithDiagnostic<Foo>("foo") },
    std::pair<std::string_view, nonstd::expected<Bar, BT::PortInputError>>{
        "bar", getInputWithDiagnostic<Bar>("bar") });

Parameters

node	The tree node reading the ports; its fullPath() is used to identify the node in log messages.
args	One std::pair<std::string_view, nonstd::expected<T, BT::PortInputError>> per port, in the same order the output tuple should hold them.

getRequiredInputs()

template<typename... Args>

tl::expected< std::tuple< Args... >, std::string > moveit_pro::behaviors::getRequiredInputs ( BT::Expected< Args >...  args )

inline

Takes any number of BT::Expected (intended for use with the return of getInput()) and converts them to one larger tl::expected that contains a tuple of all their values to allow structured binding to all your Behavior's input variables at once.

getSharedResourcesNodeBuilder()

template<typename T >

BT::NodeBuilder moveit_pro::behaviors::getSharedResourcesNodeBuilder ( const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &  shared_resources )

inline

Helper function to create a BT::NodeBuilder for a behavior tree node which takes shared_ptr<BehaviorContext> as an additional constructor parameter.

Parameters

shared_resources

A shared_ptr to an instance of BehaviorContext, which will be provided when creating the behaviors registered by this function.

Template Parameters

T	Create a builder for this type of node. Must be derived from moveit_pro::behaviors::SharedResourcesNode.

Returns

A BT::NodeBuilder that creates a node of type T.

isObjectSimilar() [1/2]

tl::expected< bool, std::string > moveit_pro::behaviors::isObjectSimilar	(	const tf2_ros::Buffer &	buffer,
		const GraspableObject &	input,
		const GraspableObject &	reference,
		const std::string &	base_frame,
		const double	distance_threshold,
		const double	orientation_threshold
	)

isObjectSimilar() [2/2]

tl::expected< bool, std::string > moveit_pro::behaviors::isObjectSimilar	(	const tf2_ros::Buffer &	buffer,
		const moveit_studio_vision_msgs::msg::GraspableObject &	input,
		const moveit_studio_vision_msgs::msg::GraspableObject &	reference,
		const std::string &	base_frame,
		const double	distance_threshold,
		const double	orientation_threshold
	)

Helper function to check if two GraspableObjects are similar within some tolerance.

Parameters

buffer	TF buffer, used to look up object poses relative to base_frame at the timestamp in the object header.
input	Object being compared. Must represent a single cuboid.
reference	Object being compared against. Must represent a single cuboid.
base_frame	Common fixed frame of reference between the two objects.
distance_threshold	Objects are considered dissimilar if their centroids are more than this distance away from each other.
orientation_threshold	Objects are considered dissimilar if the orientations of their centroids differ by this magnitude in radians.

Returns

If object similarity could be calculated without errors, returns true if the objects are similar and false if they are dissimilar. Returns an error message if the objects could not be compared successfully.

joint_state_callback()

void moveit_pro::behaviors::joint_state_callback	(	std::atomic_bool &	start_recording_flag,
		std::atomic_bool &	stop_recording_flag,
		trajectory_msgs::msg::JointTrajectory &	joint_trajectory_msg,
		const sensor_msgs::msg::JointState &	joint_state_msg,
		const std::set< std::string, std::less<> > &	joints_to_record,
		rclcpp::Time &	start_time_for_recording,
		const rclcpp::Time &	node_time,
		rclcpp::Time &	timeout_start,
		const double	timeout,
		std::atomic_bool &	error_flag,
		std::string &	error,
		std::condition_variable &	cv,
		std::mutex &	mtx
	)

MakeDeprecatedMetadata()

std::pair< std::string, std::string > moveit_pro::behaviors::MakeDeprecatedMetadata ( std::string_view  detail )

inline

Makes the metadata key value pair to mark a behavior as deprecated.

Parameters

detail

Any additional detail to print out with a deprecation warning. e.g. why or what the behavior is being replaced with.

Returns

The metadata key value pair to mark a behavior as deprecated.

makeInitialPose()

geometry_msgs::msg::PoseWithCovarianceStamped moveit_pro::behaviors::makeInitialPose	(	const geometry_msgs::msg::TransformStamped &	transform,
		double	xy_variance,
		double	yaw_variance
	)

Builds an AMCL initial-pose message from a TF transform.

Pure helper (no ROS I/O) so it is trivially unit testable. The robot position and orientation are taken from transform (target frame = global frame, source frame = robot frame). The covariance is a diagonal seed: xy_variance on x and y, yaw_variance on yaw, zero elsewhere. The header stamp is left unset for the caller to fill.

maybe_error() [1/2]

template<typename... Args>

std::optional< std::string > moveit_pro::behaviors::maybe_error ( BT::Expected< Args >...  args )

inline

Check if any of the provided inputs represent error states and, if so, return their error messages.

This was inspired by fp's maybe_error function: https://github.com/tylerjw/fp/blob/b4bf17c2f7a99c07b6ab9b8706357572e960d638/include/fp/result.hpp#L216-L236

Parameters

args	One or more BT::Expecteds (i.e., results from getInput)

Returns

std::optional wrapping std::string. If all of the inputs in args have values, returns std::nullopt. If one or more of the inputs in args contains an error state instead of a value, return a string that contains the concatenated error messages of all inputs that did not contain a value.

maybe_error() [2/2]

template<typename E , typename... Args>

constexpr std::optional< E > moveit_pro::behaviors::maybe_error ( tl::expected< Args, E >...  args )

constexpr

Tests if any of the expected args passed in has an error.

This was adapted from fp's maybe_error function with a small modification.

Parameters

[in]

The

tl::expected<T, E> variables. All have to use the same error type.

Template Parameters

E	The error type
Args	The value types for the tl::expected<T, E> args

Returns

The first error found or nothing

normalize_orientation()

bool moveit_pro::behaviors::normalize_orientation ( geometry_msgs::msg::Quaternion &  orientation )

inline

Normalize a quaternion to ensure it is a unit quaternion.

Parameters

orientation

The quaternion to normalize as a ROS msg.

Returns

true if the normalization was successful or false otherwise.

normalize_orientation_msg()

template<typename T >

bool moveit_pro::behaviors::normalize_orientation_msg

(

T &

msg

)

onHaltedFcn()

void moveit_pro::behaviors::onHaltedFcn	(	rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr &	start_recording_service,
		rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr &	stop_recording_service,
		rclcpp::Subscription< sensor_msgs::msg::JointState >::SharedPtr &	joint_state_subscriber,
		std::atomic_bool &	error_flag,
		std::string &	error,
		std::condition_variable &	cv,
		std::mutex &	mtx
	)

parseParameterValue()

tl::expected< rclcpp::Parameter, std::string > moveit_pro::behaviors::parseParameterValue	(	const std::string &	parameter_name,
		std::string_view	value,
		const std::string &	type
	)

Parse a string value into an rclcpp::Parameter of the specified type.

Parameters

parameter_name	The name of the parameter to create.
value	The string representation of the value. For array types, values are comma-separated.
type	The type string: "bool", "int", "double", "string", "bool_array", "int_array", "double_array", or "string_array".

Returns

The constructed rclcpp::Parameter, or an error string if parsing fails.

postProcessMasks()

tl::expected< PostProcessResult, std::string > moveit_pro::behaviors::postProcessMasks	(	const moveit_pro_ml::SAM3Detect::Result &	prediction,
		const CombinedImageResult &	combined_image,
		const std_msgs::msg::Header &	image_header
	)

Convert SAM3 output masks to ROS messages and format scores.

Performs the full post-processing pipeline after SAM3 inference:

1. Convert HW tensors to binary cv::Mat masks.
2. Upscale masks to the original image resolution.
3. If an exemplar was used, crop masks to the target region and remove any that became empty.
4. Convert surviving cv::Mat masks to ROS Mask2D messages.
5. Build double and string score vectors parallel to the mask vector.

Returns empty PostProcessResult when all masks are removed after cropping.

Parameters

prediction	Masks and scores from SAM3Detect::predict().
combined_image	Result of combineImages(); provides all dimensions and optional exemplar metadata.
image_header	ROS header copied into each Mask2D message.

Returns

PostProcessResult on success, or an error string on failure.

refineAndSplit()

tl::expected< std::vector< cv::Mat >, std::string > moveit_pro::behaviors::refineAndSplit	(	const moveit_pro_ml::SAM2Automasking::Result &	logits,
		int	original_width,
		int	original_height,
		float	nms_threshold,
		int	min_component_area
	)

Refine and split SAM2 masks with NMS, component splitting, and upscaling.

Performs post-processing on SAM2 inference results:

1. Non-Maximum Suppression (NMS) to remove overlapping masks
2. Component splitting (disconnected regions)
3. Upscaling to original image resolution

Parameters

logits	Raw SAM2 inference results containing masks and scores
original_width	Original image width (for upscaling masks)
original_height	Original image height (for upscaling masks)
nms_threshold	IoU threshold for NMS (0.0 to 1.0)
min_component_area	Minimum area in pixels for keeping split components

Returns

Vector of cv::Mat masks (CV_8UC1, binary, at original resolution), or error message if operation fails

Note

Masks are returned at original image resolution, ready for conversion to ROS messages

registerBehavior() [1/2]

template<typename T >

void moveit_pro::behaviors::registerBehavior ( BT::BehaviorTreeFactory &  factory, const std::string &  name  )

inline

Helper function to register a behavior with the default constructor signature with a BT::BehaviorTreeFactory.

Parameters

factory	Register behaviors with this factory.
name	The name to use when registering this type of behavior. It is good practice to make this name match the name of the class (e.g., moveit_pro::behaviors::PlanMTCTask is registered as "PlanMTCTask").

Template Parameters

T	Register a behavior of this type.

registerBehavior() [2/2]

template<typename T >

void moveit_pro::behaviors::registerBehavior ( BT::BehaviorTreeFactory &  factory, const std::string &  name, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &  shared_resources  )

inline

Helper function to register a behavior derived from SharedResourcesNode with a BT::BehaviorTreeFactory.

Parameters

factory	Register behaviors with this factory.
name	The name to use when registering this type of behavior. It is good practice to make this name match the name of the class (e.g., moveit_pro::behaviors::PlanMTCTask is registered as "PlanMTCTask").
shared_resources	A shared_ptr to an instance of BehaviorContext, which will be provided when creating the behaviors registered by this function.

Template Parameters

T	Register a behavior of this type.

resizeExemplar()

tl::expected< cv::Mat, std::string > moveit_pro::behaviors::resizeExemplar	(	const cv::Mat &	exemplar,
		int	target_height
	)

Resize exemplar image maintaining aspect ratio to match target height.

Parameters

exemplar	Exemplar image to resize
target_height	Target height in pixels

Returns

Resized exemplar image or error

resolveCollisionEntity()

tl::expected< std::vector< std::string >, std::string > moveit_pro::behaviors::resolveCollisionEntity	(	const moveit_pro::base::RobotModel &	robot_model,
		const std::function< bool(std::string_view)> &	is_collision_object,
		std::string_view	name
	)

Resolve a user-supplied name to the Allowed Collision Matrix entity name(s) it refers to.

A name is matched against three categories: planning group, collision object id, and robot link. A planning group expands to its member links that carry collision geometry; a collision object or robot link resolves to itself. The name is looked up in all three categories so that an ambiguous name (matching more than one category) can be reported as an error rather than silently resolved.

Parameters

robot_model	Robot model used to look up planning groups and links.
is_collision_object	Callable answering whether a name is a known collision object id in the caller's view of the world. Non-MTC callers wrap collisionObjectInScene; MTC callers answer from the pipeline planning scene inside the stage's plan-time callback.
name	Name to resolve.

Returns

The resolved entity names on success. Returns an error when the name matches more than one category (the user must rename one of the entities), when it matches none, or when it names a planning group whose links carry no collision geometry (the rule would be a no-op).

shouldRecreatePublisher()

bool moveit_pro::behaviors::shouldRecreatePublisher ( const std::shared_ptr< rclcpp::PublisherBase > &  publisher, const std::string_view  topic_name, const size_t  queue_size, const rclcpp::ReliabilityPolicy  reliability_policy  )

inline

Compare a publisher's current configuration to the desired new configuration to determine if the publisher needs to be recreated.

This checks two criteria:

1. Is the publisher a nullptr? This will be the case the first time this Behavior is ticked in a new Objective, so the publisher must be created in that case.
2. If the publisher already exists, does it publish to the right topic? If not, the publisher needs to be reinitialized to use the new topic name.
3. If the publisher already exists, does its queue_size and reliability QoS settings match the new queue_size and reliability? If not, the publisher needs to be reinitialized with these new QoS settings.

Parameters

publisher	The existing publisher to check.
topic_name	The topic name for the new configuration.
queue_size	The queue size for the new configuration.
reliability_policy	The reliability policy for the new configuration

Returns

True if the publisher must be recreated, and false if the publisher's current configuration already satisfies the new configuration.

shouldWarnOnMissingBlackboardEntry()

template<typename T >

bool moveit_pro::behaviors::shouldWarnOnMissingBlackboardEntry ( const nonstd::expected< T, BT::PortInputError > &  exp )

inline

Returns true only when the port failure indicates the user wired the port to a blackboard key that was never populated. All other failure causes (unwired manifest key, literal-conversion failure, null blackboard, ...) are the normal way to express "no value" for an optional port and must stay silent.

Exposed so it can be unit-tested without capturing live rclcpp log output.

splitSolutionAtIndex()

tl::expected< std::vector< moveit_task_constructor_msgs::msg::Solution >, std::string > moveit_pro::behaviors::splitSolutionAtIndex	(	const moveit_task_constructor_msgs::msg::Solution	solution_in,
		const std::size_t	index
	)

Split an MTC Solution message in two by dividing its vector of subtrajectories at the specified index.

The subtrajectory at the index will go into the second output MTC Solution. The task IDs of the new solutions will be set to match the task ID of the input solution.

The start_scene field of each new solution will be set to a new empty moveit_msgs::msg::PlanningScene message, since the MTC ExecuteSolution MoveGroup capability actually does not use this initial scene state when executing the solution. This is an implementation compromise – while a more thorough approach would be to calculate a new start_scene for the second half of the split solution by applying each scene diff from the subtrajectories in the first half of the split solution to the start_scene from the original solution, we would need to create an instance of a MoveIt PlanningScene object to do that, which introduces a lot of extra overhead like retrieving the robot model and SRDF.

The sub_solution field of each new solution will be set to an empty vector of moveit_task_constructor_msgs::msg::SubSolution messages. This is another implementation compromise – since MTC apparently does not need the subsolutions to execute each of the overall solution's subtrajectories, and there isn't a clear way to associate these subsolutions with a subset of the subtrajectories, we skip the step of copying subsolutions in to the halves of the split solution.

Parameters

solution_in	Input MTC Solution message
index	The index where the subtrajectories will be split.

Returns

A tl::expected wrapping a vector of MTC solutions. If there is no error, the vector will contain two MTC Solution messages, where the first one contains the portion of the input Solution that was before the split index and the second one contains the remainder of the solution. Returns an InvalidArgument error if the index would be out of range for the vector of subtrajectories.

start_recording_callback()

bool moveit_pro::behaviors::start_recording_callback	(	std::atomic_bool &	start_recording_flag,
		std::condition_variable &	cv
	)

stop_recording_callback()

bool moveit_pro::behaviors::stop_recording_callback	(	std::atomic_bool &	stop_recording_flag,
		std::atomic_bool &	start_recording_flag,
		std::atomic_bool &	error_flag,
		std::string &	error,
		std::condition_variable &	cv,
		std::mutex &	mtx
	)

toString()

constexpr std::string_view moveit_pro::behaviors::toString ( Subcategory  subcategory )

constexpr

Returns the canonical display string for a Subcategory value.

Every enum value must be handled explicitly — the switch has no default so adding a new Subcategory without updating this function produces a -Wswitch diagnostic at compile time.

validateDistanceFieldParameters()

tl::expected< void, std::string > moveit_pro::behaviors::validateDistanceFieldParameters	(	const std::vector< double > &	bbox_min,
		const std::vector< double > &	bbox_max,
		double	resolution,
		double	max_distance
	)

Validate the inputs required to build a propagation distance field.

Pure function so it can be exercised by unit tests independently of BT plumbing.

Returns

An empty result on success or an error message describing the first failed precondition.

validateImageMetadata()

tl::expected< void, std::string > moveit_pro::behaviors::validateImageMetadata

(

const sensor_msgs::msg::Image &

image_msg

)

Validate that an image message's metadata fields are internally consistent.

Designed to be called before handing the message to cv_bridge or OpenCV, both of which will either OOM, assert, or throw with poorly-scoped exceptions on corrupted input. Returned errors include the full metadata via formatImageMetadata for forensic logging.

Checks, in order:

• Encoding string is non-empty and recognized by sensor_msgs::image_encodings.
• Width and height are <= SaveImageToFile::kMaxImageDimension.
• Step is at least width * bytes_per_pixel.
• Data buffer size equals height * step exactly.

validateRemovable()

tl::expected< bool, std::string > moveit_pro::behaviors::validateRemovable	(	std::string_view	object_id,
		const moveit_msgs::msg::PlanningScene &	scene
	)

Validate that an id is removable from a planning scene.

Parameters

object_id	Id of the object the caller intends to remove. Must not be empty.
scene	A planning scene that has the WORLD_OBJECT_NAMES and ROBOT_STATE_ATTACHED_OBJECTS components populated. The function cannot distinguish an absent id from an unpopulated list, so a scene fetched with a narrower mask will misreport ids as not in the world. The caller is responsible for fetching with both components.

Returns

true when the id is present in scene.world.collision_objects and should be removed. false when the id is absent: removal is a no-op the caller should treat as success. An error if object_id is empty or if the id is currently attached to the robot. The attached check runs before the world check so callers get the more actionable failure mode when both apply.

waitForServiceCallsAndErrors()

tl::expected< void, std::string > moveit_pro::behaviors::waitForServiceCallsAndErrors	(	std::atomic_bool &	stop_recording_flag,
		std::atomic_bool &	start_recording_flag,
		std::atomic_bool &	error_flag,
		std::string &	error,
		std::condition_variable &	cv,
		std::mutex &	mtx
	)

warnIfCpuFallback()

void moveit_pro::behaviors::warnIfCpuFallback ( const std::string &  behavior_name, const std::shared_ptr< BehaviorContext > &  shared_resources, bool  is_cpu_fallback  )

inline

Publishes a warning to the UI when ML inference falls back to CPU.

Parameters

behavior_name	The name of the calling behavior (used as the log source).
shared_resources	Shared behavior context containing the logger.
is_cpu_fallback	Whether the underlying model is running on CPU instead of GPU.

Variable Documentation

kClearOctomapServiceName

constexpr auto moveit_pro::behaviors::kClearOctomapServiceName = "clear_octomap"

constexpr

Constant service name used by the MoveIt ClearOctomap MoveGroup capability.

kDefaultPackageNamePort

constexpr auto moveit_pro::behaviors::kDefaultPackageNamePort = "package_name"

inlineconstexpr

kDeprecatedMetadataKey

constexpr char moveit_pro::behaviors::kDeprecatedMetadataKey[] = "deprecated"

inlineconstexpr

kDescriptionAddPoseStampedToVector

constexpr auto moveit_pro::behaviors::kDescriptionAddPoseStampedToVector

inlineconstexpr

Initial value:

= R"(
                <p><b>DEPRECATED: Use PushBackVector instead.</b></p>
                <p>
                    Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard.
                </p>
            )"

kDescriptionClearPoseStampedVector

constexpr auto moveit_pro::behaviors::kDescriptionClearPoseStampedVector

inlineconstexpr

Initial value:

= R"(
                <p>
                    Reset a vector containing PoseStamped messages.
                </p>
            )"

kDescriptionMetadataKey

constexpr char moveit_pro::behaviors::kDescriptionMetadataKey[] = "description"

inlineconstexpr

kDescriptionPublishEmpty

constexpr auto moveit_pro::behaviors::kDescriptionPublishEmpty

inlineconstexpr

Initial value:

= R"(
                <p>
                    Publish a <code>std_msgs::msg::Empty</code> message to a topic.
                </p>
            )"

kDescriptionPublishString

constexpr auto moveit_pro::behaviors::kDescriptionPublishString

inlineconstexpr

Initial value:

= R"(
                <p>
                    Publish a <code>std_msgs::msg::String</code> message to a topic.
                </p>
            )"

kDescriptionRegisterPointClouds

constexpr auto moveit_pro::behaviors::kDescriptionRegisterPointClouds

inlineconstexpr

Initial value:

= R"(
                <p>
                    Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Iterative Closest Point (ICP) algorithm.
                </p>
            )"

kDescriptionResetVector

constexpr auto moveit_pro::behaviors::kDescriptionResetVector

inlineconstexpr

Initial value:

= R"(
                <p>
                    Reset a vector containing BT::Any messages.
                </p>
            )"

kDescriptionReversePoseStampedVector

constexpr auto moveit_pro::behaviors::kDescriptionReversePoseStampedVector

inlineconstexpr

Initial value:

= R"(
                <p>
                    Reverses the order of a `PoseStamped` vector and stores the reversed sequence to the blackboard.
                </p>
            )"

kDescriptionReverseVector

constexpr auto moveit_pro::behaviors::kDescriptionReverseVector

inlineconstexpr

Initial value:

= R"(
                <p>
                    Reverses the order of a vector containing BT::Any data into a new output vector.
                </p>
            )"

kPortIdEndEffectorFrame

constexpr auto moveit_pro::behaviors::kPortIdEndEffectorFrame = "end_effector_frame"

constexpr

kPortIdOdometry

constexpr auto moveit_pro::behaviors::kPortIdOdometry = "subscribed_odometry"

constexpr

kPortIdOdometryPose

constexpr auto moveit_pro::behaviors::kPortIdOdometryPose = "odometry_pose"

constexpr

kPortIdOdometryTopicName

constexpr auto moveit_pro::behaviors::kPortIdOdometryTopicName = "odometry_topic_name"

constexpr

kPortIdOutputControlVelocity

constexpr auto moveit_pro::behaviors::kPortIdOutputControlVelocity = "output_control_velocity"

constexpr

kPortIdOutputErrorPose

constexpr auto moveit_pro::behaviors::kPortIdOutputErrorPose = "output_pose_error"

constexpr

kPortIdPose

constexpr auto moveit_pro::behaviors::kPortIdPose = "pose"

constexpr

kPortIdPositionTolerance

constexpr auto moveit_pro::behaviors::kPortIdPositionTolerance = "position_tolerance"

constexpr

kPortIdProportionalGainAngular

constexpr auto moveit_pro::behaviors::kPortIdProportionalGainAngular = "proportional_gain_angular"

constexpr

kPortIdProportionalGainLinear

constexpr auto moveit_pro::behaviors::kPortIdProportionalGainLinear = "proportional_gain_linear"

constexpr

kPortIdRotationTolerance

constexpr auto moveit_pro::behaviors::kPortIdRotationTolerance = "rotation_tolerance"

constexpr

kPortIdTargetMotionState

constexpr auto moveit_pro::behaviors::kPortIdTargetMotionState = "target_motion_state"

constexpr

kPortIdTargetPoseOffset

constexpr auto moveit_pro::behaviors::kPortIdTargetPoseOffset = "target_pose_offset"

constexpr

kSubcategoryMetadataKey

constexpr char moveit_pro::behaviors::kSubcategoryMetadataKey[] = "subcategory"

inlineconstexpr