Namespaces
	affordance_transforms

	wrench_measurement

Classes
class	AveragePoseStamped
	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. More...

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

class	AddPoseStampedToVector
	Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard. 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	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	CreateBehaviorTreeFromTaskPlan
	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. More...

class	CreateCollisionObject

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	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...

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 by sending a /get_planning_scene service request. More...

class	GetDrawerAxisFromSelection
	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. More...

class	GetHingeAxisFromSurfaceSelection
	Arrange input poses into the order expected by the affordance template behavior. 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	GetPlanUsingTAMP
	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). 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	IsForceWithinThreshold
	Checks for wrench messages from a topic and report failure if it exceed a threshold value. More...

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

class	LoadJointTrajectoryFromYaml
	Creates and outputs a ROS JointTrajectory message from a given input yaml file. 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	LoadPosesFromYaml
	Loads a vector of Poses from a file, converts it to a vector of ROS geometry_msgs/Pose messages, 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	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	MoveToJointState
	Given a JointState message and a planning group, move the group to the given joint values. More...

class	MoveToPose
	Given a stamped pose message, move to that pose. More...

class	MoveToWaypoint
	Given a named waypoint, move to that waypoint. More...

class	PlanCartesianPath
	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. 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	SaveJointTrajectoryToYaml
	Saves data from a ROS JointTrajectory message to a yaml file. 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	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	UpdateAdmittanceController
	Updates the parameters of an existing admittance controller. 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_studio/calibration folder. More...

class	WritePoseToYAML
	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. More...

class	GetIntFromUser
	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`. More...

class	GetJointStateFromUser
	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`. 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	GetPoseFromUser
	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`. 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	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	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 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. More...

class	SetupMTCAffordanceTemplate
	A MTC-based behavior to execute motion based on an affordance template (AT). 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	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	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	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, frame name, axis, and move distance, appends MTC stages to describe a cartesian motion plan in the frame's axis with the specified distance. 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	SetupMTCOpenLeverHandleDoor
	Configures MTC stages to open a lever-handled door by turning the handle and pushing the door away from the robot. 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	CoreBehaviorsLoader

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	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	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	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	GetAffordancePoses
	Returns a vector of affordance poses relative to an input GraspableObject. 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 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. 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	GetSynchronizedCameraTopics
	Get different camera topics time-synchronized 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 file and write it to an output data port. More...

class	PublishPointCloud
	Publish a point cloud. 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	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	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...

Typedefs
using	SetStringArray = moveit_studio_agent_msgs::srv::SetStringArray

using	Trigger = std_srvs::srv::Trigger

using	FollowJointTrajectory = control_msgs::action::FollowJointTrajectory

using	GetPlanningScene = moveit_msgs::srv::GetPlanningScene

using	ApplyPlanningScene = moveit_msgs::srv::ApplyPlanningScene

using	GripperCommand = control_msgs::action::GripperCommand

using	ExecuteTaskSolution = moveit_task_constructor_msgs::action::ExecuteTaskSolution

using	RetrieveBehaviorParameter = moveit_studio_agent_msgs::srv::RetrieveBehaviorParameter

using	StoreMtcIntrospectionData = moveit_studio_agent_msgs::srv::StoreMtcIntrospectionData

using	CalibratePose = robot_calibration_msgs::action::CalibratePose

using	GetMasks2D = moveit_studio_vision_msgs::action::GetMasks2D

using	SendPointCloud2 = moveit_studio_agent_msgs::srv::SendPointCloud2

Functions
std::string	generateBehaviorTreeXmlPrefix (const std::string &behavior_tree_name)

std::string	generateBehaviorTreeXmlSuffix ()

std::vector< std::string >	actionStringToWordVector (std::string action_str)

fp::Result< std::vector< ObjectWithDistance > >	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...

fp::Result< std::vector< moveit_task_constructor_msgs::msg::Solution > >	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...

fp::Result< bool >	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...

fp::Result< std::vector< ObjectWithDistance > >	calculateClosestObjectToPose (const tf2_ros::Buffer &buffer, const std::vector< GraspableObject > &objects, const geometry_msgs::msg::PoseStamped &pose)

std::string	getYAMLFileName ()

fp::Result< bool >	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)

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

Typedef Documentation

◆ ApplyPlanningScene

using moveit_studio::behaviors::ApplyPlanningScene = typedef moveit_msgs::srv::ApplyPlanningScene

◆ CalibratePose

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

◆ ExecuteTaskSolution

typedef moveit_task_constructor_msgs::action::ExecuteTaskSolution moveit_studio::behaviors::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

using moveit_studio::behaviors::GetPlanningScene = typedef moveit_msgs::srv::GetPlanningScene

◆ GripperCommand

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

◆ RetrieveBehaviorParameter

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

◆ 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

◆ StoreMtcIntrospectionData

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

◆ Trigger

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

Function Documentation

◆ actionStringToWordVector()

std::vector<std::string> moveit_studio::behaviors::actionStringToWordVector ( std::string action_str )

inline

◆ calculateClosestObjectToPose() [1/2]

fp::Result<std::vector<ObjectWithDistance> > moveit_studio::behaviors::calculateClosestObjectToPose	(	const tf2_ros::Buffer &	buffer,
		const std::vector< GraspableObject > &	objects,
		const geometry_msgs::msg::PoseStamped &	pose
	)

◆ calculateClosestObjectToPose() [2/2]

fp::Result<std::vector<ObjectWithDistance> > 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 objects to evaluate.
pose	Pose to use for distance comparison.

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

◆ generateBehaviorTreeXmlPrefix()

std::string moveit_studio::behaviors::generateBehaviorTreeXmlPrefix ( const std::string & behavior_tree_name )

inline

◆ generateBehaviorTreeXmlSuffix()

std::string moveit_studio::behaviors::generateBehaviorTreeXmlSuffix ( )

inline

◆ getYAMLFileName()

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

◆ isObjectSimilar() [1/2]

fp::Result<bool> 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]

fp::Result<bool> 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.

◆ splitSolutionAtIndex()

fp::Result< std::vector< moveit_task_constructor_msgs::msg::Solution > > 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: An fp::Result 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.

Variable Documentation

◆ kClearOctomapServiceName

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

constexpr

Constant service name used by the MoveIt ClearOctomap MoveGroup capability.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ ApplyPlanningScene

◆ CalibratePose

◆ ExecuteTaskSolution

◆ FollowJointTrajectory

◆ GetMasks2D

◆ GetPlanningScene

◆ GripperCommand

◆ RetrieveBehaviorParameter

◆ SendPointCloud2

◆ SetStringArray

◆ StoreMtcIntrospectionData

◆ Trigger

Function Documentation

◆ actionStringToWordVector()

◆ calculateClosestObjectToPose() [1/2]

◆ calculateClosestObjectToPose() [2/2]

◆ generateBehaviorTreeXmlPrefix()

◆ generateBehaviorTreeXmlSuffix()

◆ getYAMLFileName()

◆ isObjectSimilar() [1/2]

◆ isObjectSimilar() [2/2]

◆ splitSolutionAtIndex()

Variable Documentation

◆ kClearOctomapServiceName