remove_collision_object_from_planning_scene.hpp File Reference

#include <behaviortree_cpp/bt_factory.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_msgs/srv/apply_planning_scene.hpp>
#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
#include <moveit_studio_vision_msgs/msg/graspable_object.hpp>

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Classes
class	moveit_studio::behaviors::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...

Namespaces
	moveit_studio
	moveit_studio::behaviors

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