Parameters describing the attach or detach action for appendAttachOrDetachStage. More...

#include <mtc_stage_helpers.hpp>

Public Attributes
std::string	object_id
	Id of the object to attach or detach. Must be non-empty.

std::string	link_name
	Robot link to attach to / detach from. Must name a link in the task's robot model.

bool	attach = true
	True to attach the object, false to detach it.

std::vector< std::string >	allowed_collision_links = {}
	Robot links permitted to collide with the attached object. Ignored when `attach` is false.

std::optional< geometry_msgs::msg::Transform >	relative_transform = std::nullopt

Detailed Description

Parameters describing the attach or detach action for appendAttachOrDetachStage.

object_id and link_name are required for both actions. allowed_collision_links and relative_transform apply only when attach is true and are ignored for a detach.

Member Data Documentation

◆ allowed_collision_links

std::vector<std::string> moveit_pro::behaviors::AttachOrDetachStageRequest::allowed_collision_links = {}

Robot links permitted to collide with the attached object. Ignored when attach is false.

◆ attach

bool moveit_pro::behaviors::AttachOrDetachStageRequest::attach = true

True to attach the object, false to detach it.

◆ link_name

std::string moveit_pro::behaviors::AttachOrDetachStageRequest::link_name

Robot link to attach to / detach from. Must name a link in the task's robot model.

◆ object_id

std::string moveit_pro::behaviors::AttachOrDetachStageRequest::object_id

Id of the object to attach or detach. Must be non-empty.

◆ relative_transform

std::optional<geometry_msgs::msg::Transform> moveit_pro::behaviors::AttachOrDetachStageRequest::relative_transform = std::nullopt

Optional fixed pose (link_T_object) to attach at instead of the object's current pose. Ignored when attach is false.

The documentation for this struct was generated from the following file:

mtc_stage_helpers.hpp