Namespaces
	affordance_transforms

	check_for_error_utils

	wrench_measurement

Classes
class	ActivateControllers
	Activate controllers, whose names are set by the "controller_names" parameter. More...

class	AddSubframeToObject
	Annotates an input GraspableObject with an input Pose and Pose ID. 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 is only forbidden to collide with the robot. More...

class	AppendOrientationConstraint
	Appends an orientation constraint (based on the values specified in the input port's yaml file) to an existing constraints message. More...

class	AttachTool
	This Behavior sends a request to attach a tool to a robot for motion planning purposes. More...

class	AveragePoseStamped
	This Behavior calculates the running average of incoming Pose Stamped ROS messages. More...

class	BiasedCoinFlip
	Simulates flipping a biased coin with the specified probability of success provided via the input port. 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	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	CreateGraspableObject

class	CreateJointState
	Create a sensor_msgs::msg::JointState and writes it to the Blackboard. 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	DetachTool
	This Behavior sends a request to detach a tool from a robot for motion planning purposes. 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". 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	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...

class	ExtractGraspableObjectPose
	Changes an input GraspableObject into a PoseStamped by getting its pose and its ID. More...

class	ForEach
	A class for creating a behavior tree decorator node to iterate through a vector of items. 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	GenerateCoveragePath
	Creates a zig-zag path for a robot end-effector to follow, to cover a given area. More...

class	GenerateObjectsInBox

struct	ObjectWithDistance
	Associates a GraspableObject with a distance metric. More...

class	GetClosestObjectToPose
	Given a collection of GraspableObjects, find the one that's closest to the provided pose. More...

class	GetCurrentPlanningScene
	Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request. More...

class	GetGraspAndTwistSubframes
	Given an input PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount. 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	GetMoveAlongArcSubframes
	Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis. More...

class	GetParameterValueFromUser
	This is a template class to get parameter values which are stored in a map in the Objective Server node. The map contains parameter overrides which are specified when creating the DoObjectiveSequence goal. Given a parameter name, send a service request to the Objective Server to retrieve user input value for the parameter named `parameter_name`. More...

class	GetStringFromUser
	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type string for the parameter named `parameter_name`. More...

class	GetRobotJointState
	This behavior extracts a ROS `sensor_msgs/JointState` message from a a planning scene object. More...

class	InitializeMotionConstraints
	Creates a shared pointer to a new moveit_msgs::msg::Constraints and writes it to the Blackboard. More...

class	IsConstraintSatisfied
	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object. More...

class	IsUserAvailable
	Checks for the presence of a user interface by checking if the `/trajectory_bridge` ROS node exists. More...

class	LoadObjectiveParameters
	Loads the configuration parameters for a given objective. The configuration file name is given as an input port parameters to this behavior. The parameters are loaded once per objective execution. To reload the parameter from the file, just execute the objective again. More...

class	LogMessage
	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level. 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	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	PlanCartesianPath
	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. More...

class	PlanToJointGoal
	Given a joint-space goal, plan a joint-space trajectory to reach the goal. More...

class	PublishEmpty
	Publish a std_msgs::msg::Empty message to a topic. More...

class	PublishStaticFrame
	Publishes a static transform into the tf2 buffer. More...

class	PublishString
	Publish a std_msgs::msg::String message to a topic. More...

class	PublishVelocityForceCommand
	Publishes a static transform into the tf2 buffer. More...

class	ReadTextFileAsString
	Read the contents of a text file and output the contents as a std::string. More...

class	CoreBehaviorsLoader

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	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	RetrieveWaypoint
	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint. More...

class	SaveCurrentState
	Use the /get_planning_scene service from move_group to save the robot's current state. More...

class	SetAdmittanceParameters
	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior. More...

class	SolveIKQueries

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	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	TransformPoseFromYaml
	Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The `pose_parameters` port is normally provided by a LoadObjectiveParameter Behavior. More...

class	TransformPoseWithPose
	Transforms an input stamped pose with the transform specified by another stamped pose. More...

class	AdjustPoseWithIMarker
	Requests a user to manually adjust a collection of poses using interactive markers in the UI. 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	GetTextFromUser
	Gets text from user by sending a list of prompts with default values for each prompt. 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	SwitchUIPrimaryView
	Switches the primary view in the MoveIt Studio Developer Tool. More...

class	ValidateTrajectory
	Checks if a joint trajectory is valid, given a PlanningScene. More...

class	WaitForDuration
	Wait for a specified duration before succeeding. More...

class	WriteCalibratedPoseToYaml
	Write pose (x,y,z, roll, pitch, yaw) to YAML file. This behavior is meant to be called after the Calibrate Pose Action. TODO: Make this behavior more generic. Note: The behavior saves the calibrated_pose into the ~/.config/moveit_pro/calibration folder. 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	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	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	PushToSolutionQueue
	Push a new MTC solution to the solution queue. More...

class	MTCCoreBehaviorsLoader

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	WaitAndPopSolutionQueue
	Pops the MTC solution queue to get the next solution to be processed. 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. More...

class	MTCTaskSetupBehaviorsLoader

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	SetupMTCAttachOrDetachObject
	This is the base class for SetupMTCAttachObject and SetupMTCDetachObject. More...

class	SetupMTCAttachObject
	Add an MTC Stage to an MTC Task that attaches an object to the named robot frame. More...

class	SetupMTCDetachObject
	Add an MTC Stage to an MTC Task that detaches an object from the named robot frame. 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	SetupMTCConnectWithTrajectory
	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. More...

class	SetupMTCCurrentState
	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task. 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	SetupMTCGraspAndTwistThenMoveAlongArcPush
	Configures MTC stages to grasp a location, rotate the end-effector about an axis to turn the grasp point (for example a handle), and then push the end-effector away from the robot base while still grasping (for example to open a door). More...

class	SetupMTCGraspThenMoveAlongArcPull
	Configures MTC stages to perform a motion that can be parameterized as a grasp followed by a pulling motion in a screw-trajectory (a circular arc). Examples in practice include opening pull doors and drawers. 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	SetupMTCMoveToJointState
	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state. More...

class	SetupMTCMoveToNamedState
	Given an existing MTC Task object and the name of a known state, appends MTC stages to describe a freespace motion plan to that state. More...

class	SetupMTCMoveToPose
	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose. More...

class	SetupMTCPickObject
	Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp and lift an object at that pose. More...

class	SetupMTCRetractFromGrasp
	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object. 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	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...

class	NavBehaviorsLoader

class	GetMeshNormalPoses
	Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. More...

class	ServoBehaviorsLoader

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

class	TeleoperateBase
	This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server. More...

class	TeleoperateJointJog
	Specialization of TeleoperateBase for joint jog commands. More...

class	TeleoperateTwist
	Specialization of TeleoperateBase for Cartesian twist commands. More...

class	AddPointCloudToVector
	Appends a point cloud to a vector of point clouds. More...

class	CalibratePoseAction
	Calls a robot_calibration_msgs::action::CalibratePose action server and outputs the results on the calibrated_poses port. NOTE: For now this behavior only supports sending a single frame for calibration. More...

class	ShapeCompletionAction
	Calls an action server that uses moveit_studio_vision_msgs::action::ShapeCompletion interface and outputs the completed pointcloud given a partial or occluded pointcloud. More...

class	CheckCuboidSimilarity
	Check if two GraspableObjects are similar within some tolerance. More...

class	ClearSnapshot
	Sends a request to clear the existing Octomap and Pointcloud snapshots. More...

class	CropPointsInBox
	Given a point cloud and a box-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	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	DetectAprilTags
	Detects AprilTag markers from an image. 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	FitLineSegmentToMask3D
	Finds the line segment that best fits a point cloud fragment. 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	GetDetectionPose
	Gets the stamped pose of an object detection given a label or ID, if one exists. More...

class	GetDoorHandlePose
	This class represents a behavior that can calculate the pose of a door lever handle along with its depth and length. The convention is that the Z-axis of the pose represents the axis of rotation of the handle. The X-axis points along the handle and points toward the door hinge. More...

class	GetGraspableObjectsFromMasks3D
	Finds objects in point cloud segments represented by 3D masks. 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	GetMasks2DAction
	Calls an action server that uses moveit_studio_vision_msgs::action::GetMasks2D interface and outputs the results on the masks2d port. More...

class	GetMasks3DFromMasks2D
	Backprojects a number of image masks onto a point cloud with a camera model. 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	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	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	LoadImageFromFile
	Loads an image from a file and writes it to an output data 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	MergePointClouds
	Merges a number of input point clouds into a single one. More...

class	PublishPointCloud
	Publish a point cloud. 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	VisionBehaviorsLoader

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	SavePointCloudToFile
	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd. More...

class	SendPointCloudToUI
	Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI. 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	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	PublishMarkers
	Publishes a set of markers to the UI for visualization. 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	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	AddToVector
	Pushes an object into a vector and sets the updated vector to the blackboard. More...

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

struct	BehaviorContext
	The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode. More...

class	ClockInterfaceBase
	A base class which provides an interface for retrieving timepoints from a monotonic clock. More...

class	SteadyClockInterface
	Implementation of ClockInterfaceBase for std::chrono::steady_clock. 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	LoadMultipleFromYaml
	Loads types from a YAML file, and returns them as a vector in an output port. More...

class	LoadFromYaml
	Loads a type from a YAML file, and returns it in an output port. More...

class	PublisherInterfaceBase
	Defines an interface to a publisher that sends a message to a topic. More...

class	RclcppPublisherInterface
	Implementation of the publisher interface for a rclcpp publisher. More...

class	ResetVector
	Create an empty vector and set it to the blackboard. 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	ServiceClientBehaviorBase
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. 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	RclcppClientInterface
	Implements ClientInterfaceBase for the rclcpp service client. 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...

Typedefs
using	SetStringArray = moveit_studio_agent_msgs::srv::SetStringArray

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	FollowJointTrajectory = control_msgs::action::FollowJointTrajectory

using	RetrieveBehaviorParameter = moveit_studio_agent_msgs::srv::RetrieveBehaviorParameter

using	GripperCommand = control_msgs::action::GripperCommand

using	AdjustPose = moveit_studio_internal_msgs::srv::AdjustPose

using	RequestPointsFromUser = moveit_studio_internal_msgs::srv::RequestPointsFromUser

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	SwitchPrimaryView = moveit_studio_internal_msgs::srv::SwitchPrimaryView

using	ExecuteTaskSolution = moveit_task_constructor_msgs::action::ExecuteTaskSolution

using	StoreUidMap = moveit_studio_internal_msgs::srv::StoreUidMap

using	NavigateThroughPoses = nav2_msgs::action::NavigateThroughPoses

using	NavigateToPose = nav2_msgs::action::NavigateToPose

using	CalibratePose = robot_calibration_msgs::action::CalibratePose

using	ShapeCompletion = moveit_studio_vision_msgs::action::ShapeCompletion

using	GetMasks2D = moveit_studio_vision_msgs::action::GetMasks2D

using	SendPointCloud2 = moveit_studio_agent_msgs::srv::SendPointCloud2

using	AttachToolSrv = moveit_studio_agent_msgs::srv::AttachTool

using	DetachToolSrv = moveit_studio_agent_msgs::srv::DetachTool

Functions
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. More...

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. More...

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. More...

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

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. More...

tl::expected< void, std::string >	requestSwitchCommandType (std::shared_ptr< rclcpp::Client< moveit_msgs::srv::ServoCommandType >> client, std::shared_ptr< moveit_msgs::srv::ServoCommandType::Request > request)
	Send a request through a service client for a moveit_msgs::srv::ServoCommandType service and block until a response is received or a timeout limit is reached. More...

tl::expected< void, std::string >	startServo (std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool >> client)
	Starts the servo node. More...

tl::expected< void, std::string >	stopServo (std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool >> client)
	Stops the servo node. More...

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. More...

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)

std::string	getYAMLFileName ()

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)

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. More...

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. More...

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. More...

template<typename MessageT >
bool	shouldRecreateSubscriber (const std::shared_ptr< rclcpp::Subscription< MessageT >> &subscriber, const std::string &topic_name, const rclcpp::QoS &publisher_qos)
	Compare a subscriber's current configuration to the desired new configuration to determine if the subscriber needs to be recreated. More...

tl::expected< rclcpp::TopicEndpointInfo, std::string >	waitForPublisher (const std::shared_ptr< rclcpp::Node > &node, const std::string &topic_name)
	Waits for a publisher to be advertised on the provided topic, and gets the TopicEndpointInfo for the publisher once it appears. More...

template<typename T >
T	unwrapExpectedOrThrow (BT::Expected< T > exp)

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

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. More...

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. More...

template<typename T >
BT::NodeBuilder	getDefaultNodeBuilder ()
	Helper function to create a BT::NodeBuilder for a behavior tree node with the default constructor signature. More...

template<typename T >
BT::NodeBuilder	getSharedResourcesNodeBuilder (const std::shared_ptr< moveit_studio::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. More...

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. More...

template<typename T >
void	registerBehavior (BT::BehaviorTreeFactory &factory, const std::string &name, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Helper function to register a behavior derived from SharedResourcesNode with a BT::BehaviorTreeFactory. More...

Variables
constexpr auto	kClearOctomapServiceName = "clear_octomap"
	Constant service name used by the MoveIt ClearOctomap MoveGroup capability. More...

constexpr auto	kDescriptionAddPoseStampedToVector

constexpr auto	kDescriptionClearPoseStampedVector

constexpr auto	kDescriptionPublishEmpty

constexpr auto	kDescriptionPublishString

constexpr auto	kDescriptionRegisterPointClouds

constexpr auto	kDescriptionLoadFromYaml

constexpr auto	kDescriptionLoadHeaderFromYaml = "<p>Loads a std::msg Header message from a YAML file.</p>"

constexpr auto	kDescriptionLoadJointTrajectoryFromYaml

constexpr auto	kDescriptionLoadObjectSubframeFromYaml

constexpr auto	kDescriptionLoadPoseFromYaml = "<p>Loads a Pose message from a YAML file.</p>"

constexpr auto	kDescriptionLoadPoseStampedFromYaml = "<p>Loads a PoseStamped message from a YAML file.</p>"

constexpr auto	kDescriptionLoadPointStampedFromYaml = "<p>Loads a PointStamped message from a YAML file.</p>"

constexpr auto	kDescriptionLoadQuaternionFromYaml = "<p>Loads a Quaternion message from a YAML file.</p>"

constexpr auto	kDescriptionLoadVector3FromYaml = "<p>Loads a Vector3 message from a YAML file.</p>"

constexpr auto	kDescriptionLoadTransformFromYaml = "<p>Loads a Transform message from a YAML file.</p>"

constexpr auto	kDescriptionLoadTransformStampedFromYaml

constexpr auto	kDescriptionLoadHeaderVectorFromYaml

constexpr auto	kDescriptionLoadPoseVectorFromYaml = "<p>Loads a vector of Pose messages from a YAML file.</p>"

constexpr auto	kDescriptionLoadPoseStampedVectorFromYaml

constexpr auto	kDescriptionLoadPointStampedVectorFromYaml

constexpr auto	kDescriptionLoadObjectSubframeVectorFromYaml

constexpr auto	kDescriptionSaveToYaml

constexpr auto	kDescriptionSaveHeaderToYaml

constexpr auto	kDescriptionSaveJointTrajectoryToYaml

constexpr auto	kDescriptionSavePoseToYaml

constexpr auto	kDescriptionSavePoseStampedToYaml

constexpr auto	kDescriptionSavePointStampedToYaml

constexpr auto	kDescriptionSaveQuaternionToYaml

constexpr auto	kDescriptionSaveVector3ToYaml

constexpr auto	kDescriptionSaveTransformToYaml

constexpr auto	kDescriptionSaveTransformStampedToYaml

Typedef Documentation

◆ AdjustPose

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

◆ ApplyPlanningScene

typedef moveit_msgs::srv::ApplyPlanningScene moveit_studio::behaviors::ApplyPlanningScene

◆ AttachToolSrv

using moveit_studio::behaviors::AttachToolSrv = typedef moveit_studio_agent_msgs::srv::AttachTool

◆ CalibratePose

using moveit_studio::behaviors::CalibratePose = typedef robot_calibration_msgs::action::CalibratePose

◆ DetachToolSrv

using moveit_studio::behaviors::DetachToolSrv = typedef moveit_studio_agent_msgs::srv::DetachTool

◆ DoTeleoperate

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

◆ ExecuteTaskSolution

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

◆ FollowJointTrajectory

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

◆ GetMasks2D

using moveit_studio::behaviors::GetMasks2D = typedef moveit_studio_vision_msgs::action::GetMasks2D

◆ GetPlanningScene

typedef moveit_msgs::srv::GetPlanningScene moveit_studio::behaviors::GetPlanningScene

◆ GripperCommand

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

◆ NavigateThroughPoses

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

◆ NavigateToPose

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

◆ RequestPointsFromUser

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

◆ RequestTextFromUser

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

◆ RetrieveBehaviorParameter

typedef moveit_studio_agent_msgs::srv::RetrieveBehaviorParameter moveit_studio::behaviors::RetrieveBehaviorParameter

◆ RetrieveJointState

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

◆ RetrievePose

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

◆ SendPointCloud2

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

◆ SetStringArray

using moveit_studio::behaviors::SetStringArray = typedef moveit_studio_agent_msgs::srv::SetStringArray

◆ ShapeCompletion

using moveit_studio::behaviors::ShapeCompletion = typedef moveit_studio_vision_msgs::action::ShapeCompletion

◆ StoreUidMap

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

◆ SwitchPrimaryView

using moveit_studio::behaviors::SwitchPrimaryView = typedef moveit_studio_internal_msgs::srv::SwitchPrimaryView

◆ Trigger

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

Function Documentation

◆ calculateClosestObjectToPose() [1/2]

tl::expected<std::vector<ObjectWithDistance>, std::string> moveit_studio::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_studio::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_studio::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:

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.
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_studio::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:

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.
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.

◆ createAddVirtualCollisionObjectToPlanningSceneRequest()

moveit_msgs::srv::ApplyPlanningScene::Request moveit_studio::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.

◆ createRemoveCollisionObjectFromPlanningSceneRequest()

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

◆ generateCoveragePath()

tl::expected< std::vector< Eigen::Isometry3d >, std::string > moveit_studio::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.

◆ getDefaultNodeBuilder()

template<typename T >

BT::NodeBuilder moveit_studio::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.

◆ getRequiredInputs()

template<typename... Args>

tl::expected<std::tuple<Args...>, std::string> moveit_studio::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_studio::behaviors::getSharedResourcesNodeBuilder ( const std::shared_ptr< moveit_studio::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_studio::behaviors::SharedResourcesNode.

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

◆ getYAMLFileName()

std::string moveit_studio::behaviors::getYAMLFileName ( )

◆ isObjectSimilar() [1/2]

tl::expected<bool, std::string> moveit_studio::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_studio::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.

◆ maybe_error() [1/2]

template<typename... Args>

std::optional<std::string> moveit_studio::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_studio::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

◆ registerBehavior() [1/2]

template<typename T >

void moveit_studio::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_studio::behaviors::PlanMTCTask is registered as "PlanMTCTask").

Template Parameters

T	Register a behavior of this type.

◆ registerBehavior() [2/2]

template<typename T >

void moveit_studio::behaviors::registerBehavior	(	BT::BehaviorTreeFactory &	factory,
		const std::string &	name,
		const std::shared_ptr< moveit_studio::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_studio::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.

◆ requestSwitchCommandType()

tl::expected< void, std::string > moveit_studio::behaviors::requestSwitchCommandType	(	std::shared_ptr< rclcpp::Client< moveit_msgs::srv::ServoCommandType >>	client,
		std::shared_ptr< moveit_msgs::srv::ServoCommandType::Request >	request
	)

Send a request through a service client for a moveit_msgs::srv::ServoCommandType service and block until a response is received or a timeout limit is reached.

Parameters

client	Service client to use
request	Service request message to send

Returns: tl::expected containing void if the service succeeds. Returns an error string if the wait duration exceeded kServiceResponseMaxWait. Returns an error string if the server reports that the service request did not succeed.

◆ shouldRecreatePublisher()

bool moveit_studio::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:

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.
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.
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.

◆ shouldRecreateSubscriber()

template<typename MessageT >

bool moveit_studio::behaviors::shouldRecreateSubscriber	(	const std::shared_ptr< rclcpp::Subscription< MessageT >> &	subscriber,
		const std::string &	topic_name,
		const rclcpp::QoS &	publisher_qos
	)

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

This checks three criteria:

Is the subscriber a nullptr? This will be the case the first time this Behavior is ticked in a new Objective, so the subscriber must be created in that case.
If the subscriber already exists, does it listen on the right topic? If not, the client needs to be reinitialized to use the new action name.
If the subscriber already exists, does it use the same reliability QoS setting as the publisher? If not, the subscriber needs to be reinitialized using the same reliability QoS setting as the publisher.

Parameters

subscriber	The existing subscriber to check.
topic_name	The topic name for the new configuration.
publisher_qos	The publisher's QoS for the new configuration.

Template Parameters

MessageT The ROS message type used to specialize this function.

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

◆ splitSolutionAtIndex()

tl::expected< std::vector< moveit_task_constructor_msgs::msg::Solution >, std::string > moveit_studio::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 soltuion 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.

◆ startServo()

tl::expected< void, std::string > moveit_studio::behaviors::startServo ( std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool >> client )

Starts the servo node.

Returns: tl::expected containing void if validation succeeds. Returns an error message if the service call to start the servo server fails.

◆ stopServo()

tl::expected< void, std::string > moveit_studio::behaviors::stopServo ( std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool >> client )

Stops the servo node.

Returns: tl::expected containing void if validation succeeds. Returns an error message if the service call to stop the servo server fails.

◆ unwrapExpectedOrThrow()

template<typename T >

T moveit_studio::behaviors::unwrapExpectedOrThrow ( BT::Expected< T > exp )

inline

Attempts to unwrap a BT::Expected and throws an exception with a processed version of the error message from BT.CPP if there's no inner value.

◆ waitForPublisher()

tl::expected< rclcpp::TopicEndpointInfo, std::string > moveit_studio::behaviors::waitForPublisher	(	const std::shared_ptr< rclcpp::Node > &	node,
		const std::string &	topic_name
	)

Waits for a publisher to be advertised on the provided topic, and gets the TopicEndpointInfo for the publisher once it appears.

If multiple publishers are found on the same topic, this function just returns the TopicEndpointInfo for the first one in the order they were reported by the node. If multiple publishers advertise on the same topic with different reliability QoS settings the Behavior will only receive messages from the ones whose settings match the first publisher in the list. This situation will only happen if the publishers have been incorrectly configured, so this is not handled by this Behavior.

Parameters

node	Node used to retrieve publisher info.
topic_name	Name of the topic where we expect the publisher to advertise.

Returns: If one or more publishers were found on the topic, returns the TopicEndpointInfo for the first publisher that was found. If no publishers were found on the topic before the timeout elapsed, return an error result.

Variable Documentation

◆ kClearOctomapServiceName

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

constexpr

Constant service name used by the MoveIt ClearOctomap MoveGroup capability.

◆ kDescriptionAddPoseStampedToVector

constexpr auto moveit_studio::behaviors::kDescriptionAddPoseStampedToVector

inlineconstexpr

Initial value:

= R"(
                <p>
                    Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard.
                </p>
            )"

◆ kDescriptionClearPoseStampedVector

constexpr auto moveit_studio::behaviors::kDescriptionClearPoseStampedVector

inlineconstexpr

Initial value:

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

◆ kDescriptionLoadFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadFromYaml

inlineconstexpr

Initial value:

=
    "<p>Loads a vector of objects from a file, converts it and their names in the file to a vector of messages, and "
    "writes that to an output data port.</p>"

◆ kDescriptionLoadHeaderFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadHeaderFromYaml = "Loads a std::msg Header message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadHeaderVectorFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadHeaderVectorFromYaml

inlineconstexpr

Initial value:

=

"Loads a vector of std::msg Header messages from a YAML file."

◆ kDescriptionLoadJointTrajectoryFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadJointTrajectoryFromYaml

inlineconstexpr

Initial value:

=
    "<p>Loads a joint trajectory message from a YAML file name and outputs a JointTrajectory ROS message object "
    "created from the file contents.</p>"

◆ kDescriptionLoadObjectSubframeFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadObjectSubframeFromYaml

inlineconstexpr

Initial value:

=

"Loads a moveit_studio_vision_msgs::msg ObjectSubframe message from a YAML file."

◆ kDescriptionLoadObjectSubframeVectorFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadObjectSubframeVectorFromYaml

inlineconstexpr

Initial value:

=
    "<p>Loads a vector of Subframes from a file, converts it and their names in the file to a vector of ROS "
    "moveit_studio_vision_msgs::msg::ObjectSubframe messages, and writes that to an output data port.</p>"

◆ kDescriptionLoadPointStampedFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPointStampedFromYaml = "Loads a PointStamped message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadPointStampedVectorFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPointStampedVectorFromYaml

inlineconstexpr

Initial value:

=

"Loads a vector of PointStamped messages from a YAML file."

◆ kDescriptionLoadPoseFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPoseFromYaml = "Loads a Pose message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadPoseStampedFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPoseStampedFromYaml = "Loads a PoseStamped message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadPoseStampedVectorFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPoseStampedVectorFromYaml

inlineconstexpr

Initial value:

=

"Loads a vector of PoseStamped messages from a YAML file."

◆ kDescriptionLoadPoseVectorFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadPoseVectorFromYaml = "Loads a vector of Pose messages from a YAML file."

inlineconstexpr

◆ kDescriptionLoadQuaternionFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadQuaternionFromYaml = "Loads a Quaternion message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadTransformFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadTransformFromYaml = "Loads a Transform message from a YAML file."

inlineconstexpr

◆ kDescriptionLoadTransformStampedFromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadTransformStampedFromYaml

inlineconstexpr

Initial value:

=

"Loads a TransformStamped message from a YAML file."

◆ kDescriptionLoadVector3FromYaml

constexpr auto moveit_studio::behaviors::kDescriptionLoadVector3FromYaml = "Loads a Vector3 message from a YAML file."

inlineconstexpr

◆ kDescriptionPublishEmpty

constexpr auto moveit_studio::behaviors::kDescriptionPublishEmpty

inlineconstexpr

Initial value:

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

◆ kDescriptionPublishString

constexpr auto moveit_studio::behaviors::kDescriptionPublishString

inlineconstexpr

Initial value:

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

◆ kDescriptionRegisterPointClouds

constexpr auto moveit_studio::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>
            )"

◆ kDescriptionSaveHeaderToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveHeaderToYaml

inlineconstexpr

Initial value:

=

"Write a Header message given as a `std_msgs::msg::Header` message to a YAML file."

◆ kDescriptionSaveJointTrajectoryToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveJointTrajectoryToYaml

inlineconstexpr

Initial value:

=
    "<p>Accepts a JointTrajectory ROS message object, a namespace, and a file name. Converts and saves the joint "
    "trajectory message as a YAML file in the objectives directory at the provided file name and under the provided "
    "namespace within the file.</p>"

◆ kDescriptionSavePointStampedToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSavePointStampedToYaml

inlineconstexpr

Initial value:

=

"Write a point stamped given as a `geometry_msgs::msg::PoseStamped` message to a YAML file."

◆ kDescriptionSavePoseStampedToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSavePoseStampedToYaml

inlineconstexpr

Initial value:

=

"Write a pose given as a `geometry_msgs::msg::PoseStamped` message to a YAML file."

◆ kDescriptionSavePoseToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSavePoseToYaml

inlineconstexpr

Initial value:

=

"Write a pose given as a `geometry_msgs::msg::Pose` message to a YAML file."

◆ kDescriptionSaveQuaternionToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveQuaternionToYaml

inlineconstexpr

Initial value:

=

"Write a Quaternion given as a `geometry_msgs::msg::Quaternion` message to a YAML file."

◆ kDescriptionSaveToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveToYaml

inlineconstexpr

Initial value:

=
    "<p>Accepts a ROS message object, a namespace, and a file name. Converts and saves the message as a YAML file in "
    "the Objectives directory at the provided file name and under the provided namespace within the file.</p>"

◆ kDescriptionSaveTransformStampedToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveTransformStampedToYaml

inlineconstexpr

Initial value:

=

"Write a Transform given as a `geometry_msgs::msg::TransformStamped` message to a YAML file."

◆ kDescriptionSaveTransformToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveTransformToYaml

inlineconstexpr

Initial value:

=

"Write a Transform given as a `geometry_msgs::msg::Transform` message to a YAML file."

◆ kDescriptionSaveVector3ToYaml

constexpr auto moveit_studio::behaviors::kDescriptionSaveVector3ToYaml

inlineconstexpr

Initial value:

=

"Write a Vector3 given as a `geometry_msgs::msg::Vector3` message to a YAML file."

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ AdjustPose

◆ ApplyPlanningScene

◆ AttachToolSrv

◆ CalibratePose

◆ DetachToolSrv

◆ DoTeleoperate

◆ ExecuteTaskSolution

◆ FollowJointTrajectory

◆ GetMasks2D

◆ GetPlanningScene

◆ GripperCommand

◆ NavigateThroughPoses

◆ NavigateToPose

◆ RequestPointsFromUser

◆ RequestTextFromUser

◆ RetrieveBehaviorParameter

◆ RetrieveJointState

◆ RetrievePose

◆ SendPointCloud2

◆ SetStringArray

◆ ShapeCompletion

◆ StoreUidMap

◆ SwitchPrimaryView

◆ Trigger

Function Documentation

◆ calculateClosestObjectToPose() [1/2]

◆ calculateClosestObjectToPose() [2/2]

◆ clientMustBeRecreated() [1/2]

◆ clientMustBeRecreated() [2/2]

◆ createAddVirtualCollisionObjectToPlanningSceneRequest()

◆ createRemoveCollisionObjectFromPlanningSceneRequest()

◆ generateCoveragePath()

◆ getDefaultNodeBuilder()

◆ getRequiredInputs()

◆ getSharedResourcesNodeBuilder()

◆ getYAMLFileName()

◆ isObjectSimilar() [1/2]

◆ isObjectSimilar() [2/2]

◆ maybe_error() [1/2]

◆ maybe_error() [2/2]

◆ registerBehavior() [1/2]

◆ registerBehavior() [2/2]

◆ requestSwitchCommandType()

◆ shouldRecreatePublisher()

◆ shouldRecreateSubscriber()

◆ splitSolutionAtIndex()

◆ startServo()

◆ stopServo()

◆ unwrapExpectedOrThrow()

◆ waitForPublisher()

Variable Documentation

◆ kClearOctomapServiceName

◆ kDescriptionAddPoseStampedToVector

◆ kDescriptionClearPoseStampedVector

◆ kDescriptionLoadFromYaml

◆ kDescriptionLoadHeaderFromYaml

◆ kDescriptionLoadHeaderVectorFromYaml

◆ kDescriptionLoadJointTrajectoryFromYaml

◆ kDescriptionLoadObjectSubframeFromYaml

◆ kDescriptionLoadObjectSubframeVectorFromYaml

◆ kDescriptionLoadPointStampedFromYaml

◆ kDescriptionLoadPointStampedVectorFromYaml

◆ kDescriptionLoadPoseFromYaml

◆ kDescriptionLoadPoseStampedFromYaml

◆ kDescriptionLoadPoseStampedVectorFromYaml

◆ kDescriptionLoadPoseVectorFromYaml

◆ kDescriptionLoadQuaternionFromYaml

◆ kDescriptionLoadTransformFromYaml

◆ kDescriptionLoadTransformStampedFromYaml

◆ kDescriptionLoadVector3FromYaml

◆ kDescriptionPublishEmpty

◆ kDescriptionPublishString

◆ kDescriptionRegisterPointClouds

◆ kDescriptionSaveHeaderToYaml