Class MoveitExample

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class MoveitExample : public rclcpp::Node

Public Functions

inline MoveitExample()
inline void initialize()
inline moveit_msgs::msg::RobotTrajectory::SharedPtr drawCircle()
inline moveit_msgs::msg::RobotTrajectory::SharedPtr planToPoint(const Eigen::Isometry3d &pose, const std::string &planning_pipeline = "pilz_industrial_motion_planner", const std::string &planner_id = "PTP")
inline moveit_msgs::msg::RobotTrajectory::SharedPtr planToPosition(const std::vector<double> &joint_pos)
inline moveit_msgs::msg::RobotTrajectory::SharedPtr planToPointUntilSuccess(const Eigen::Isometry3d &pose, const std::string &planning_pipeline = "pilz_industrial_motion_planner", const std::string &planner_id = "PTP")
inline void AddObject(const moveit_msgs::msg::CollisionObject &object)
inline void addRobotPlatform()
inline void addCollisionBox(const geometry_msgs::msg::Vector3 &position, const geometry_msgs::msg::Vector3 &size)
inline void addPalletObjects()
inline void AttachObject(const std::string &object_id)
inline void DetachAndRemoveObject(const std::string &object_id)
inline void setOrientationConstraint(const geometry_msgs::msg::Quaternion &orientation)
inline void clearConstraints()
inline void drawTrajectory(const moveit_msgs::msg::RobotTrajectory &trajectory)
inline void drawTitle(const std::string &text)
inline void addBreakPoint()
inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> moveGroupInterface()

Protected Attributes

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> move_group_interface_
rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr planning_scene_diff_publisher_
std::shared_ptr<moveit_visual_tools::MoveItVisualTools> moveit_visual_tools_
const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_basic_plan")
const std::string PLANNING_GROUP = "manipulator"