Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼Nmoveit_studio
►Nbehaviors
CAveragePoseStamped	When called multiple times in a loop this behavior will calculate the average of a Pose Stamped ROS message. If the current sample exceeds a "max_distance" or "max_rotation" (specified as input ports) from the current average pose the behavior will return FAILURE
CActivateControllers	Activate controllers, whose names are set by the "controller_names" parameter
CAddPoseStampedToVector	Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard
CAppendOrientationConstraint	Appends an orientation constraint (based on the values specified in the input port's yaml file) to an existing constraints message
CBiasedCoinFlip	Simulates flipping a biased coin with the specified probability of success provided via the input port
CBreakpointSubscriber	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
CCalculatePoseOffset	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
CCallTriggerService	Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter
CCreateBehaviorTreeFromTaskPlan	Create and execute a Behavior Tree from a task plan. action_mappings_file is a path to a YAML file that provides mappings between actions in the PDDL domain and Subtrees that can actually be executed. The resulting Behavior Tree will be saved in the Objectives directory as <behavior_tree_name>.xml
CCreateCollisionObject
CCreateJointState	Create a sensor_msgs::msg::JointState and writes it to the Blackboard
CCreateStampedPose	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard
CEditWaypoint	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"
CObjectWithDistance	Associates a GraspableObject with a distance metric
CGetClosestObjectToPose	Given a collection of GraspableObjects, find the one that's closest to the provided pose
CGetCurrentPlanningScene	Get the current planning scene state from the MoveIt PlanningSceneMonitor by sending a /get_planning_scene service request
CGetDrawerAxisFromSelection	Given an input PoseStamped representing a grasp pose selected on a drawer handle, output three PoseStampeds that define a screw motion to open the drawer
CGetHingeAxisFromSurfaceSelection	Arrange input poses into the order expected by the affordance template behavior
CGetLatestTransform	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior
CGetPlanUsingTAMP	Perform Task and Motion Planning (TAMP) to generate a plan, given a PDDL problem. The PDDL domain is assumed to exist in the domain expert (for this Behavior to get a plan from a task planner, this Behavior will retrieve the domain from the domain expert)
CInitializeMotionConstraints	Creates a shared pointer to a new moveit_msgs::msg::Constraints and writes it to the Blackboard
CIsConstraintSatisfied	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object
CIsForceWithinThreshold	Checks for wrench messages from a topic and report failure if it exceed a threshold value
CIsUserAvailable	Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists
CLoadObjectiveParameters	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
CLogMessage	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level
CModifyObjectInPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene
CMoveGripperAction	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
CMoveToJointState	Given a JointState message and a planning group, move the group to the given joint values
CMoveToPose	Given a stamped pose message, move to that pose
CMoveToWaypoint	Given a named waypoint, move to that waypoint
CResetPlanningSceneObjects	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
CRetrieveWaypoint	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint
CSaveCurrentState	Use the /get_planning_scene service from move_group to save the robot's current state
CStopwatchBegin	Saves the current epoch time as a timepoint to a data port
CStopwatchEnd	Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed
CTransformPose	Transforms a stamped pose given an input translation and orientation
CTransformPoseFrame	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
CTransformPoseFromYaml	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
CUpdateAdmittanceController	Updates the parameters of an existing admittance controller
CWaitForDuration	Wait for a specified duration before succeeding
CWriteCalibratedPoseToYAML	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_studio/calibration folder
CWritePoseToYAML	Write contents of a geometry_msgs::msg::Pose (x,y,z,qx,qy,qz.qw) to YAML file. Note: The behavior saves the pose into the ~/.config/moveit_studio/robot_config/objectives folder
CGetIntFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type int for the parameter named parameter_name
CGetJointStateFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type sensor_msgs::msg::JointState for the parameter named parameter_name
CGetParameterValueFromUser	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
CGetPoseFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type geometry_msgs::msg::PoseStamped for the parameter named parameter_name
CGetStringFromUser	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
CExecuteMTCTask	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
CInitializeMTCTask	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
CPlanMTCTask	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
CPushToSolutionQueue	Push a new MTC solution to the solution queue
CSplitMTCSolution	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
CWaitAndPopSolutionQueue	Pops the MTC solution queue to get the next solution to be processed
CWaitForUserTrajectoryApproval	Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on MTC's /solution introspection topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding
CSetupMTCAffordanceTemplate	A MTC-based behavior to execute motion based on an affordance template (AT)
CSetupMTCApproachGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object
CSetupMTCCartesianMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state
CSetupMTCCartesianSequence	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
CSetupMTCCurrentState	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task
CSetupMTCFixedJointState	Given an existing MTC Task object, appends an MTC FixedState Stage to the Task
CSetupMTCFromSolution	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
CSetupMTCGenerateCuboidGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses
CSetupMTCGenerateVacuumGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate vacuum grasp poses on its planar surfaces
CSetupMTCInterpolateToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state
CSetupMTCMoveAlongFrameAxis	Given an existing MTC Task object, frame name, axis, and move distance, appends MTC stages to describe a cartesian motion plan in the frame's axis with the specified distance
CSetupMTCMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state
CSetupMTCMoveToNamedState	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
CSetupMTCMoveToPose	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose
CSetupMTCOpenLeverHandleDoor	Configures MTC stages to open a lever-handled door by turning the handle and pushing the door away from the robot
CSetupMTCPickObject	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
CSetupMTCRetractFromGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object
CSetupMTCUpdateGroupCollisionRule	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
CCoreBehaviorsLoader
CTeleoperateBase	This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server
CTeleoperateJointJog	Specialization of TeleoperateBase for joint jog commands
CTeleoperateTwist	Specialization of TeleoperateBase for Cartesian twist commands
CCalibratePoseAction	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
CCheckCuboidSimilarity	Check if two GraspableObjects are similar within some tolerance
CClearSnapshot	Sends a request to clear the existing Octomap and Pointcloud snapshots
CCropPointsInBox	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
CDetectApriltags	Detects AprilTag markers from an image
CFindMaskedObjects	Finds objects by segmenting a point cloud using a set of 2D mask images
CFindSingularCuboids	Finds well-singulated cuboids supported by a surface within a point cloud
CGetCameraInfo	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
CGetDetectionPose	Gets the stamped pose of an object detection given a label or ID, if one exists
CGetDoorHandlePose	This class represents a behavior that can calculate the pose of a door lever handle along with its height 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
CGetImage	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
CGetMasks2DAction	Calls an action server that uses moveit_studio_vision_msgs::action::GetMasks2D interface and outputs the results on the masks2d port
CGetPointCloud	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
CGetSynchronizedCameraTopics	Get different camera topics time-synchronized and populate them in output ports
CLoadImageFromFile	Loads an image from a file and writes it to an output data port
CLoadPointCloudFromFile	Loads a point cloud from a .pcd file and write it to an output data port
CPublishPointCloud	Publish a point cloud
CSaveImageToFile	Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
CSavePointCloudToFile	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
CSendPointCloudToUI	Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI
CUpdatePlanningSceneService	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
▼NYAML
Cconvert< OrientationConstraintParams >	Utility to decode YAML node as an OrientationConstraintParams struct
Cconvert< TaskPlanParser >	Utility to decode YAML node as a TaskPlanParser struct
Cconvert< AdmittanceControllerParams >	Utility to decode YAML node as an AdmittanceControllerParams struct
CAdmittanceControllerParams	Struct representing admittance controller parameters
COrientationConstraintParams	Struct representing orientation constraint params
CTaskPlanParser