#include <visual_tools.h>

Public Member Functions
bool	attachCO (const std::string &name, const std::string &ee_parent_link)
	Attach a collision object from the planning scene.
bool	cleanupACO (const std::string &name)
	Remove an active collision object from the planning scene.
bool	cleanupCO (std::string name)
	Remove a collision object from the planning scene.
void	deleteAllMarkers ()
	Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.
void	generateRandomPose (geometry_msgs::Pose &pose)
	Create a random pose.
const std::string	getBaseFrame ()
	Get the base frame.
MOVEIT_DEPRECATED const std::string	getBaseLink ()
Eigen::Vector3d	getCenterPoint (Eigen::Vector3d a, Eigen::Vector3d b)
	Find the center between to points.
void	getCollisionWallMsg (double x, double y, double angle, double width, const std::string name, moveit_msgs::CollisionObject &collision_obj)
	Helper for publishCollisionWall.
std_msgs::ColorRGBA	getColor (const rviz_colors &color)
	Get the RGB value of standard colors.
double	getGlobalScale ()
	Getter for the global scale used for changing size of all markers.
const rviz_colors	getRandColor ()
	Get a random color from the list of hardcoded enum color types.
geometry_msgs::Vector3	getScale (const rviz_scales &scale, bool arrow_scale=false, double marker_scale=1.0)
	Get the rviz marker scale of standard sizes.
Eigen::Affine3d	getVectorBetweenPoints (Eigen::Vector3d a, Eigen::Vector3d b)
	Create a vector that points from point a to point b.
bool	hideRobot ()
	Fake removing a Robot State display in Rviz by simply moving it very far away.
bool	isMuted ()
	Return if we are in verbose mode.
void	loadAttachedPub ()
void	loadCollisionPub ()
bool	loadCollisionSceneFromFile (const std::string &path)
	Load a planning scene to a planning_scene_monitor from file.
bool	loadEEMarker (const std::string &ee_group_name, const std::string &planning_group)
	Call this once at begining to load the robot marker.
void	loadMarkerPub ()
	Load publishers as needed.
void	loadPlanningPub ()
bool	loadPlanningSceneMonitor ()
	Load a planning scene monitor if one was not passed into the constructor.
bool	loadRobotMarkers ()
	Caches the meshes and geometry of a robot. NOTE: perhaps not maintained...
void	loadRobotStatePub (const std::string &marker_topic=DISPLAY_ROBOT_STATE_TOPIC)
bool	loadRvizMarkers ()
	Pre-load rviz markers for better efficiency.
bool	loadSharedRobotState ()
	Load robot state only as needed.
void	loadTrajectoryPub ()
void	print ()
	Debug variables to console.
bool	processCollisionObjectMsg (moveit_msgs::CollisionObject msg)
	Skip a ROS message call by sending directly to planning scene monitor.
bool	publishAnimatedGrasp (const moveit_msgs::Grasp &grasp, const std::string &ee_parent_link, double animate_speed)
	Animate a single grasp in its movement direction.
bool	publishAnimatedGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const std::string &ee_parent_link, double animate_speed=0.01)
	Display an animated vector of grasps including its approach movement in Rviz.
bool	publishArrow (const Eigen::Affine3d &pose, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR)
	Publish a marker of an arrow to rviz.
bool	publishArrow (const geometry_msgs::Pose &pose, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR)
bool	publishBlock (const geometry_msgs::Pose &pose, const rviz_colors color=BLUE, const double &block_size=0.1)
	Publish a marker of a block to Rviz.
bool	publishCollisionBlock (geometry_msgs::Pose block_pose, std::string block_name, double block_size)
	Create a MoveIt Collision block at the given pose.
bool	publishCollisionCylinder (geometry_msgs::Point a, geometry_msgs::Point b, std::string object_name, double radius)
	Create a MoveIt Collision cylinder between two points.
bool	publishCollisionCylinder (Eigen::Vector3d a, Eigen::Vector3d b, std::string object_name, double radius)
bool	publishCollisionCylinder (Eigen::Affine3d object_pose, std::string object_name, double radius, double height)
	Create a MoveIt Collision cylinder with a center point pose.
bool	publishCollisionCylinder (geometry_msgs::Pose object_pose, std::string object_name, double radius, double height)
bool	publishCollisionFloor (double z, std::string plane_name)
	Make the floor a collision object.
bool	publishCollisionGraph (const graph_msgs::GeometryGraph &graph, const std::string &object_name, double radius)
	Publish a connected birectional graph.
bool	publishCollisionTable (double x, double y, double angle, double width, double height, double depth, const std::string name)
	Publish a typical room table.
bool	publishCollisionWall (double x, double y, double angle, double width, const std::string name)
	Publish a typical room wall.
bool	publishCylinder (const geometry_msgs::Pose &pose, const rviz_colors color=BLUE, double height=0.1, double radius=0.1)
	Publish a marker of a cylinder to Rviz.
bool	publishEEMarkers (const geometry_msgs::Pose &pose, const rviz_colors &color=WHITE, const std::string &ns="end_effector")
	Publish an end effector to rviz.
bool	publishGraph (const graph_msgs::GeometryGraph &graph, const rviz_colors color, double radius)
	Publish a graph.
bool	publishGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const std::string &ee_parent_link)
	Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources.
bool	publishIKSolutions (const std::vector< trajectory_msgs::JointTrajectoryPoint > &ik_solutions, const std::string &planning_group, double display_time=0.4)
	Display an vector of inverse kinematic solutions for the IK service in Rviz Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz.
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR)
	Publish a marker of line to rviz.
bool	publishMarker (const visualization_msgs::Marker &marker)
	Publish a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.
bool	publishPath (const std::vector< geometry_msgs::Point > &path, const rviz_colors color=RED, const rviz_scales scale=REGULAR, const std::string &ns="Path")
	Publish a marker of a series of connected lines to rviz.
bool	publishPolygon (const geometry_msgs::Polygon &polygon, const rviz_colors color=RED, const rviz_scales scale=REGULAR, const std::string &ns="Polygon")
	Publish a marker of a polygon to Rviz.
bool	publishRectangle (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const rviz_colors color=BLUE)
	Publish a marker of rectangle to rviz.
bool	publishRemoveAllCollisionObjects ()
bool	publishRobotState (const robot_state::RobotState &robot_state)
	Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above.
bool	publishRobotState (const robot_state::RobotStatePtr &robot_state)
bool	publishRobotState (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const std::string &group_name)
	Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show.
bool	publishSphere (const Eigen::Affine3d &pose, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR, const std::string &ns="Sphere")
	Publish a marker of a sphere to rviz.
bool	publishSphere (const Eigen::Vector3d &point, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR, const std::string &ns="Sphere")
bool	publishSphere (const geometry_msgs::Point &point, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR, const std::string &ns="Sphere")
bool	publishSphere (const geometry_msgs::Pose &pose, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR, const std::string &ns="Sphere")
bool	publishSphere (const geometry_msgs::Pose &pose, const rviz_colors color, const double scale, const std::string &ns="Sphere")
bool	publishSphere (const geometry_msgs::Pose &pose, const rviz_colors color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const rviz_colors color=BLUE, const rviz_scales scale=REGULAR, const std::string &ns="Spheres")
	Publish a marker of a series of spheres to rviz.
bool	publishTest ()
	Run a simple test of all visual_tool's features.
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, const rviz_colors &color=WHITE, const rviz_scales scale=REGULAR)
	Publish a marker of a text to Rviz.
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, const rviz_colors &color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishTrajectoryPath (const robot_trajectory::RobotTrajectory &trajectory, bool blocking=false)
	Animate trajectory in rviz.
bool	publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, bool blocking=false)
bool	publishTrajectoryPoint (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const std::string &group_name, double display_time=0.1)
	Move a joint group in MoveIt for visualization make sure you have already set the planning group name this assumes the trajectory_pt position is the size of the number of joints in the planning group This will be displayed in the Planned Path section of the MoveIt Rviz plugin.
MOVEIT_DEPRECATED bool	removeAllCollisionObjects ()
	Remove all collision objects that this class has added to the MoveIt! planning scene Communicates to a remote move_group node through a ROS message.
bool	removeAllCollisionObjectsPS ()
	Remove all collision objects that this class has added to the MoveIt! planning scene Communicates directly to a planning scene monitor e.g. if this is the move_group node.
void	resetMarkerCounts ()
	Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()
void	setAlpha (double alpha)
	Change the transparency of all markers published.
void	setBaseFrame (const std::string &base_frame)
	Change the global base frame Note: this might reset all your current markers.
void	setFloorToBaseHeight (double floor_to_base_height)
	Allows an offset between base link and floor where objects are built. Default is zero.
void	setGlobalScale (double global_scale)
	Setter for the global scale used for changing size of all markers.
void	setGraspPoseToEEFPose (geometry_msgs::Pose grasp_pose_to_eef_pose)
	Convert generic grasp pose to this end effector's frame of reference.
void	setLifetime (double lifetime)
	Set the lifetime of markers published to rviz.
void	setMuted (bool muted)
	Set this class to not actually publish anything to Rviz.
void	setPlanningSceneMonitor (planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
	Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.
	VisualTools (const std::string &base_frame, const std::string &marker_topic, planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
	Constructor.
	VisualTools (const std::string &base_frame, const std::string &marker_topic=RVIZ_MARKER_TOPIC, robot_model::RobotModelConstPtr robot_model=robot_model::RobotModelConstPtr())
	Constructor.
	~VisualTools ()
	Deconstructor.
Static Public Member Functions
static Eigen::Vector3d	convertPoint (const geometry_msgs::Point &point)
	Convert a geometry_msg point to an Eigen point Note: NOT memory efficient.
static Eigen::Vector3d	convertPoint32 (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point to an Eigen point Note: NOT memory efficient.
static geometry_msgs::Point32	convertPoint32 (const Eigen::Vector3d &point)
	Convert an Eigen point to a 32 bit geometry_msg point Note: NOT memory efficient.
static Eigen::Affine3d	convertPoint32ToPose (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point (32bit) to an Eigen pose Note: NOT memory efficient.
static geometry_msgs::Pose	convertPointToPose (const geometry_msgs::Point &point)
static geometry_msgs::Pose	convertPose (const Eigen::Affine3d &pose)
	Convert an Eigen pose to a geometry_msg pose Note: NOT memory efficient.
static Eigen::Affine3d	convertPose (const geometry_msgs::Pose &pose)
	Convert a geometry_msg pose to an Eigen pose Note: NOT memory efficient.
static geometry_msgs::Point	convertPoseToPoint (const Eigen::Affine3d &pose)
	Convert an Eigen pose to a geometry_msg point Note: NOT memory efficient.
static double	dRand (double dMin, double dMax)
	Get random between min and max.
static float	fRand (float dMin, float dMax)
static int	iRand (int dMin, int dMax)
Protected Attributes
double	alpha_
visualization_msgs::Marker	arrow_marker_
std::string	base_frame_
visualization_msgs::Marker	block_marker_
visualization_msgs::Marker	cylinder_marker_
moveit_msgs::DisplayRobotState	display_robot_msg_
visualization_msgs::MarkerArray	ee_marker_array_
double	floor_to_base_height_
double	global_scale_
geometry_msgs::Pose	grasp_pose_to_eef_pose_
visualization_msgs::Marker	line_marker_
ros::Duration	marker_lifetime_
std::vector< geometry_msgs::Pose >	marker_poses_
std::string	marker_topic_
bool	muted_
ros::NodeHandle	nh_
visualization_msgs::Marker	path_marker_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
ros::Publisher	pub_attach_collision_obj_
ros::Publisher	pub_collision_obj_
ros::Publisher	pub_display_path_
ros::Publisher	pub_planning_scene_diff_
ros::Publisher	pub_robot_state_
ros::Publisher	pub_rviz_marker_
visualization_msgs::Marker	rectangle_marker_
visualization_msgs::Marker	reset_marker_
robot_model_loader::RobotModelLoaderPtr	rm_loader_
robot_state::RobotModelConstPtr	robot_model_
robot_state::RobotStatePtr	shared_robot_state_
visualization_msgs::Marker	sphere_marker_
visualization_msgs::Marker	spheres_marker_
visualization_msgs::Marker	text_marker_
tf::Pose	tf_root_to_link_
Private Member Functions
planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitor ()
	Get the planning scene monitor that this class is using.
void	initialize ()
	Shared function for initilization by constructors.

Detailed Description

Definition at line 100 of file visual_tools.h.

Constructor & Destructor Documentation

moveit_visual_tools::VisualTools::VisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic,
		planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor
	)

Constructor.

Parameters:

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match
planning_scene_monitor	- optionally pass in a pre-loaded planning scene monitor to avoid having to re-load the URDF, kinematic solvers, etc

Definition at line 58 of file visual_tools.cpp.

moveit_visual_tools::VisualTools::VisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic = `RVIZ_MARKER_TOPIC`,
		robot_model::RobotModelConstPtr	robot_model = `robot_model::RobotModelConstPtr()`
	)

Constructor.

Parameters:

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match
robot_model	- load robot model pointer so that we don't have do re-parse it here

Definition at line 69 of file visual_tools.cpp.

moveit_visual_tools::VisualTools::~VisualTools ( ) [inline]

Deconstructor.

Definition at line 191 of file visual_tools.h.

Member Function Documentation

bool moveit_visual_tools::VisualTools::attachCO	(	const std::string &	name,
		const std::string &	ee_parent_link
	)

Attach a collision object from the planning scene.

Parameters:

Name	of object
\return	true on sucess

Definition at line 1498 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::cleanupACO ( const std::string & name )

Remove an active collision object from the planning scene.

Parameters:

Name of object

Returns:: true on sucess

Definition at line 1480 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::cleanupCO ( std::string name )

Remove a collision object from the planning scene.

Parameters:

Name of object

Returns:: true on sucess

Definition at line 1465 of file visual_tools.cpp.

Eigen::Vector3d moveit_visual_tools::VisualTools::convertPoint ( const geometry_msgs::Point & point ) [static]

Convert a geometry_msg point to an Eigen point Note: NOT memory efficient.

Parameters:

point

Returns:: converted pose

Definition at line 2017 of file visual_tools.cpp.

Eigen::Vector3d moveit_visual_tools::VisualTools::convertPoint32 ( const geometry_msgs::Point32 & point ) [static]

Convert a geometry_msg point to an Eigen point Note: NOT memory efficient.

Parameters:

point

Returns:: converted pose

Definition at line 2026 of file visual_tools.cpp.

geometry_msgs::Point32 moveit_visual_tools::VisualTools::convertPoint32 ( const Eigen::Vector3d & point ) [static]

Convert an Eigen point to a 32 bit geometry_msg point Note: NOT memory efficient.

Parameters:

point

Returns:: converted pose

Definition at line 2035 of file visual_tools.cpp.

Eigen::Affine3d moveit_visual_tools::VisualTools::convertPoint32ToPose ( const geometry_msgs::Point32 & point ) [static]

Convert a geometry_msg point (32bit) to an Eigen pose Note: NOT memory efficient.

Parameters:

pose

Returns:: converted point with default rotation matrix

Definition at line 1994 of file visual_tools.cpp.

geometry_msgs::Pose moveit_visual_tools::VisualTools::convertPointToPose ( const geometry_msgs::Point & point ) [static]

Parameters:

input	- description
input	- description

Returns:

Definition at line 2003 of file visual_tools.cpp.

geometry_msgs::Pose moveit_visual_tools::VisualTools::convertPose ( const Eigen::Affine3d & pose ) [static]

Convert an Eigen pose to a geometry_msg pose Note: NOT memory efficient.

Parameters:

pose

Returns:: converted pose

Definition at line 1980 of file visual_tools.cpp.

Eigen::Affine3d moveit_visual_tools::VisualTools::convertPose ( const geometry_msgs::Pose & pose ) [static]

Convert a geometry_msg pose to an Eigen pose Note: NOT memory efficient.

Parameters:

pose

Returns:: converted pose

Definition at line 1987 of file visual_tools.cpp.

static geometry_msgs::Point moveit_visual_tools::VisualTools::convertPoseToPoint ( const Eigen::Affine3d & pose ) [static]

Convert an Eigen pose to a geometry_msg point Note: NOT memory efficient.

Parameters:

pose

Returns:: converted point with orientation discarded

void moveit_visual_tools::VisualTools::deleteAllMarkers ( )

Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.

Definition at line 91 of file visual_tools.cpp.

double moveit_visual_tools::VisualTools::dRand	(	double	dMin,
		double	dMax
	)		`[static]`

Get random between min and max.

Definition at line 2060 of file visual_tools.cpp.

float moveit_visual_tools::VisualTools::fRand	(	float	dMin,
		float	dMax
	)		`[static]`

Definition at line 2066 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::generateRandomPose ( geometry_msgs::Pose & pose )

Create a random pose.

Parameters:

Pose	to fill in

Definition at line 2044 of file visual_tools.cpp.

const std::string moveit_visual_tools::VisualTools::getBaseFrame ( ) [inline]

Get the base frame.

Returns:: name of base frame

Definition at line 348 of file visual_tools.h.

MOVEIT_DEPRECATED const std::string moveit_visual_tools::VisualTools::getBaseLink ( ) [inline]

Definition at line 352 of file visual_tools.h.

Eigen::Vector3d moveit_visual_tools::VisualTools::getCenterPoint	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b
	)

Find the center between to points.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns:: center point

Definition at line 722 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::getCollisionWallMsg	(	double	x,
		double	y,
		double	angle,
		double	width,
		const std::string	name,
		moveit_msgs::CollisionObject &	collision_obj
	)

Helper for publishCollisionWall.

Definition at line 1711 of file visual_tools.cpp.

std_msgs::ColorRGBA moveit_visual_tools::VisualTools::getColor ( const rviz_colors & color )

Get the RGB value of standard colors.

Parameters:

color - an enum pre-defined name of a color

Returns:: the RGB message equivalent

Definition at line 558 of file visual_tools.cpp.

double moveit_visual_tools::VisualTools::getGlobalScale ( ) [inline]

Getter for the global scale used for changing size of all markers.

Definition at line 371 of file visual_tools.h.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::VisualTools::getPlanningSceneMonitor ( ) [private]

Get the planning scene monitor that this class is using.

Returns:: a ptr to a planning scene

Definition at line 691 of file visual_tools.cpp.

const rviz_colors moveit_visual_tools::VisualTools::getRandColor ( )

Get a random color from the list of hardcoded enum color types.

Returns:: Random color from rviz_colors

Definition at line 541 of file visual_tools.cpp.

geometry_msgs::Vector3 moveit_visual_tools::VisualTools::getScale	(	const rviz_scales &	scale,
		bool	arrow_scale = `false`,
		double	marker_scale = `1.0`
	)

Get the rviz marker scale of standard sizes.

Parameters:

scale	- an enum pre-defined name of a size
arrow_scale	- they do not have an even scaling, compensate
marker_scale	- amount to scale the scale for accounting for different types of markers

Returns:: vector of 3 scales

Definition at line 635 of file visual_tools.cpp.

Eigen::Affine3d moveit_visual_tools::VisualTools::getVectorBetweenPoints	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b
	)

Create a vector that points from point a to point b.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns:: vector from a to b

Definition at line 731 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::hideRobot ( )

Fake removing a Robot State display in Rviz by simply moving it very far away.

Returns:: true on success

Definition at line 1955 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::initialize ( ) [private]

Shared function for initilization by constructors.

Definition at line 80 of file visual_tools.cpp.

int moveit_visual_tools::VisualTools::iRand	(	int	dMin,
		int	dMax
	)		`[static]`

Definition at line 2072 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::isMuted ( ) [inline]

Return if we are in verbose mode.

Definition at line 256 of file visual_tools.h.

void moveit_visual_tools::VisualTools::loadAttachedPub ( )

Definition at line 461 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::loadCollisionPub ( )

Definition at line 447 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadCollisionSceneFromFile ( const std::string & path )

Load a planning scene to a planning_scene_monitor from file.

Parameters:

path	- path to planning scene, e.g. as exported from Rviz Plugin
planning	scene monitor that is already setup

Returns:: true on success

Definition at line 1804 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadEEMarker	(	const std::string &	ee_group_name,
		const std::string &	planning_group
	)

Call this once at begining to load the robot marker.

Parameters:

\param

Returns:: true if it is successful

Definition at line 362 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::loadMarkerPub ( )

Load publishers as needed.

Definition at line 433 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::loadPlanningPub ( )

Definition at line 475 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadPlanningSceneMonitor ( )

Load a planning scene monitor if one was not passed into the constructor.

Returns:: true if successful in loading

Definition at line 256 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadRobotMarkers ( )

Caches the meshes and geometry of a robot. NOTE: perhaps not maintained...

Returns:: true if successful in loading

Definition at line 322 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::loadRobotStatePub ( const std::string & marker_topic = DISPLAY_ROBOT_STATE_TOPIC )

Definition at line 503 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadRvizMarkers ( )

Pre-load rviz markers for better efficiency.

Returns:: converted pose *; true on sucess

Definition at line 111 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::loadSharedRobotState ( )

Load robot state only as needed.

Returns:: true if successful in loading

Definition at line 702 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::loadTrajectoryPub ( )

Definition at line 489 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::print ( )

Debug variables to console.

Definition at line 2078 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::processCollisionObjectMsg ( moveit_msgs::CollisionObject msg )

Skip a ROS message call by sending directly to planning scene monitor.

Parameters:

collision object message

Returns:: true on success

Definition at line 308 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishAnimatedGrasp	(	const moveit_msgs::Grasp &	grasp,
		const std::string &	ee_parent_link,
		double	animate_speed
	)

Animate a single grasp in its movement direction.

Parameters:

grasp
ee_parent_link	- end effector's attachment link
animate_speed	- how fast the gripper approach is animated

Returns:: true on sucess

Definition at line 1302 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishAnimatedGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const std::string &	ee_parent_link,
		double	animate_speed = `0.01`
	)

Display an animated vector of grasps including its approach movement in Rviz.

Parameters:

possible_grasps	- a set of grasp positions to visualize
ee_parent_link	- end effector's attachment link
animate_speed	- how fast the gripper approach is animated, optional

Definition at line 1276 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishArrow	(	const Eigen::Affine3d &	pose,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`
	)

Publish a marker of an arrow to rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns:: true on success

Definition at line 916 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishArrow	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`
	)

Definition at line 921 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishBlock	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color = `BLUE`,
		const double &	block_size = `0.1`
	)

Publish a marker of a block to Rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
size	- height=width=depth=size

Returns:: true on success

Definition at line 941 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionBlock	(	geometry_msgs::Pose	block_pose,
		std::string	block_name,
		double	block_size
	)

Create a MoveIt Collision block at the given pose.

Parameters:

pose	- location of center of block
name	- semantic name of MoveIt collision object
size	- height=width=depth=size

Returns:: true on sucess

Definition at line 1556 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionCylinder	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b,
		std::string	object_name,
		double	radius
	)

Create a MoveIt Collision cylinder between two points.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point
name	- semantic name of MoveIt collision object
radius	- size of cylinder

Returns:: true on sucess

Definition at line 1582 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionCylinder	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b,
		std::string	object_name,
		double	radius
	)

Definition at line 1587 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionCylinder	(	Eigen::Affine3d	object_pose,
		std::string	object_name,
		double	radius,
		double	height
	)

Create a MoveIt Collision cylinder with a center point pose.

Parameters:

pose	- vector pointing along axis of cylinder
name	- semantic name of MoveIt collision object
radius	- size of cylinder
height	- size of cylinder

Returns:: true on sucess

Definition at line 1607 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionCylinder	(	geometry_msgs::Pose	object_pose,
		std::string	object_name,
		double	radius,
		double	height
	)

Definition at line 1612 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionFloor	(	double	z,
		std::string	plane_name
	)

Make the floor a collision object.

Parameters:

z	location of floor
name	of floor

Returns:: true on success

Definition at line 1517 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionGraph	(	const graph_msgs::GeometryGraph &	graph,
		const std::string &	object_name,
		double	radius
	)

Publish a connected birectional graph.

Parameters:

graph	of nodes and edges
name	of collision object

Returns:: true on sucess

Definition at line 1637 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionTable	(	double	x,
		double	y,
		double	angle,
		double	width,
		double	height,
		double	depth,
		const std::string	name
	)

Publish a typical room table.

Parameters:

x
y
angle
width
height
depth
name

Returns:: true on sucess

Definition at line 1763 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCollisionWall	(	double	x,
		double	y,
		double	angle,
		double	width,
		const std::string	name
	)

Publish a typical room wall.

Parameters:

x
y
angle
width
name

Returns:: true on sucess

Definition at line 1751 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishCylinder	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color = `BLUE`,
		double	height = `0.1`,
		double	radius = `0.1`
	)

Publish a marker of a cylinder to Rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
height	- geometry of cylinder
radius	- geometry of cylinder

Returns:: true on success

Definition at line 969 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishEEMarkers	(	const geometry_msgs::Pose &	pose,
		const rviz_colors &	color = `WHITE`,
		const std::string &	ns = `"end_effector"`
	)

Publish an end effector to rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame

Returns:: true on success

Definition at line 776 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishGraph	(	const graph_msgs::GeometryGraph &	graph,
		const rviz_colors	color,
		double	radius
	)

Publish a graph.

Parameters:

graph	of nodes and edges
color	- an enum pre-defined name of a color
radius	- width of cylinders

Returns:: true on success

Definition at line 997 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const std::string &	ee_parent_link
	)

Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources.

Parameters:

possible_grasps	- a set of grasp positions to visualize
ee_parent_link	- end effector's attachment link

Definition at line 1248 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishIKSolutions	(	const std::vector< trajectory_msgs::JointTrajectoryPoint > &	ik_solutions,
		const std::string &	planning_group,
		double	display_time = `0.4`
	)

Display an vector of inverse kinematic solutions for the IK service in Rviz Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz.

Parameters:

ik_solutions	- a set of corresponding arm positions to achieve each grasp
display_time	- amount of time to sleep between sending trajectories, optional

Definition at line 1368 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`
	)

Publish a marker of line to rviz.

Parameters:

point1	- x,y,z of start of line
point2	- x,y,z of end of line
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns:: true on success

Definition at line 1081 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishMarker ( const visualization_msgs::Marker & marker )

Publish a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.

Parameters:

marker - a pre-made marker ready to be published

Returns:: true on success

Definition at line 1236 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishPath	(	const std::vector< geometry_msgs::Point > &	path,
		const rviz_colors	color = `RED`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Path"`
	)

Publish a marker of a series of connected lines to rviz.

Parameters:

path	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1105 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishPolygon	(	const geometry_msgs::Polygon &	polygon,
		const rviz_colors	color = `RED`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Polygon"`
	)

Publish a marker of a polygon to Rviz.

Parameters:

polygon	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1146 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishRectangle	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const rviz_colors	color = `BLUE`
	)

Publish a marker of rectangle to rviz.

Parameters:

point1	- x,y,z top corner location of box
point2	- x,y,z bottom opposite corner location of box
color	- an enum pre-defined name of a color

Returns:: true on success

Definition at line 1051 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishRemoveAllCollisionObjects ( )

Definition at line 1432 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishRobotState ( const robot_state::RobotState & robot_state )

Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above.

Parameters:

robot_state

Definition at line 1928 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishRobotState ( const robot_state::RobotStatePtr & robot_state )

Definition at line 1923 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishRobotState	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const std::string &	group_name
	)

Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show.

Parameters:

robot_state

Returns:: true on success

Definition at line 1939 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const Eigen::Affine3d &	pose,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`
	)

Publish a marker of a sphere to rviz.

Parameters:

pose	- the location to publish the sphere with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns:: true on success

Definition at line 859 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`
	)

Definition at line 864 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const geometry_msgs::Point &	point,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`
	)

Definition at line 871 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`
	)

Definition at line 878 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color,
		const double	scale,
		const std::string &	ns = `"Sphere"`
	)

Definition at line 883 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const rviz_colors	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = `"Sphere"`
	)

Definition at line 891 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		const rviz_colors	color = `BLUE`,
		const rviz_scales	scale = `REGULAR`,
		const std::string &	ns = `"Spheres"`
	)

Publish a marker of a series of spheres to rviz.

Parameters:

spheres	- where to publish them
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1165 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishTest ( )

Run a simple test of all visual_tool's features.

Returns:: true on success

Definition at line 1967 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		const rviz_colors &	color = `WHITE`,
		const rviz_scales	scale = `REGULAR`
	)

Publish a marker of a text to Rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame
text	- what to display
color	- an enum pre-defined name of a colo
scale	- an enum pre-defined name of a size

Returns:: true on success

Definition at line 1198 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		const rviz_colors &	color,
		const geometry_msgs::Vector3	scale,
		bool	static_id = `true`
	)

Definition at line 1203 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishTrajectoryPath	(	const robot_trajectory::RobotTrajectory &	trajectory,
		bool	blocking = `false`
	)

Animate trajectory in rviz.

Parameters:

trajectory_msg	the actual plan
blocking	whether we need to wait for the animation to complete

Returns:: true on success

Definition at line 1858 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishTrajectoryPath	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		bool	blocking = `false`
	)

Definition at line 1880 of file visual_tools.cpp.

bool moveit_visual_tools::VisualTools::publishTrajectoryPoint	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const std::string &	group_name,
		double	display_time = `0.1`
	)

Move a joint group in MoveIt for visualization make sure you have already set the planning group name this assumes the trajectory_pt position is the size of the number of joints in the planning group This will be displayed in the Planned Path section of the MoveIt Rviz plugin.

Parameters:

trajectory_pts	- a single joint configuration
group_name	- the MoveIt planning group the trajectory applies to
display_time	- amount of time for the trajectory to "execute"

Returns:: true on success

Definition at line 1828 of file visual_tools.cpp.

MOVEIT_DEPRECATED bool moveit_visual_tools::VisualTools::removeAllCollisionObjects ( ) [inline]

Remove all collision objects that this class has added to the MoveIt! planning scene Communicates to a remote move_group node through a ROS message.

Returns:: true on sucess

Definition at line 558 of file visual_tools.h.

bool moveit_visual_tools::VisualTools::removeAllCollisionObjectsPS ( )

Remove all collision objects that this class has added to the MoveIt! planning scene Communicates directly to a planning scene monitor e.g. if this is the move_group node.

Parameters:

the	scene to directly clear the collision objects from

Returns:: true on sucess

Definition at line 1455 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::resetMarkerCounts ( )

Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()

Definition at line 98 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::setAlpha ( double alpha ) [inline]

Change the transparency of all markers published.

Parameters:

alpha - value 0 - 1 where 0 is invisible

Definition at line 286 of file visual_tools.h.

void moveit_visual_tools::VisualTools::setBaseFrame ( const std::string & base_frame ) [inline]

Change the global base frame Note: this might reset all your current markers.

Parameters:

name of frame

Definition at line 362 of file visual_tools.h.

void moveit_visual_tools::VisualTools::setFloorToBaseHeight ( double floor_to_base_height )

Allows an offset between base link and floor where objects are built. Default is zero.

Parameters:

floor_to_base_height - the offset

Definition at line 517 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::setGlobalScale ( double global_scale ) [inline]

Setter for the global scale used for changing size of all markers.

Definition at line 379 of file visual_tools.h.

void moveit_visual_tools::VisualTools::setGraspPoseToEEFPose ( geometry_msgs::Pose grasp_pose_to_eef_pose )

Convert generic grasp pose to this end effector's frame of reference.

Parameters:

pose	- the transform

Definition at line 522 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::setLifetime ( double lifetime )

Set the lifetime of markers published to rviz.

Parameters:

lifetime seconds of how long to show markers. 0 for inifinity

Definition at line 527 of file visual_tools.cpp.

void moveit_visual_tools::VisualTools::setMuted ( bool muted ) [inline]

Set this class to not actually publish anything to Rviz.

Parameters:

muted true if verbose

Definition at line 265 of file visual_tools.h.

void moveit_visual_tools::VisualTools::setPlanningSceneMonitor ( planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor ) [inline]

Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.

Parameters:

a	pointer to a load planning scen

Definition at line 295 of file visual_tools.h.

Member Data Documentation

double moveit_visual_tools::VisualTools::alpha_ [protected]

Definition at line 137 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::arrow_marker_ [protected]

Definition at line 141 of file visual_tools.h.

std::string moveit_visual_tools::VisualTools::base_frame_ [protected]

Definition at line 121 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::block_marker_ [protected]

Definition at line 143 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::cylinder_marker_ [protected]

Definition at line 144 of file visual_tools.h.

moveit_msgs::DisplayRobotState moveit_visual_tools::VisualTools::display_robot_msg_ [protected]

Definition at line 153 of file visual_tools.h.

visualization_msgs::MarkerArray moveit_visual_tools::VisualTools::ee_marker_array_ [protected]

Definition at line 130 of file visual_tools.h.

double moveit_visual_tools::VisualTools::floor_to_base_height_ [protected]

Definition at line 124 of file visual_tools.h.

double moveit_visual_tools::VisualTools::global_scale_ [protected]

Definition at line 138 of file visual_tools.h.

geometry_msgs::Pose moveit_visual_tools::VisualTools::grasp_pose_to_eef_pose_ [protected]

Definition at line 132 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::line_marker_ [protected]

Definition at line 147 of file visual_tools.h.

ros::Duration moveit_visual_tools::VisualTools::marker_lifetime_ [protected]

Definition at line 127 of file visual_tools.h.

std::vector<geometry_msgs::Pose> moveit_visual_tools::VisualTools::marker_poses_ [protected]

Definition at line 133 of file visual_tools.h.

std::string moveit_visual_tools::VisualTools::marker_topic_ [protected]

Definition at line 120 of file visual_tools.h.

bool moveit_visual_tools::VisualTools::muted_ [protected]

Definition at line 136 of file visual_tools.h.

ros::NodeHandle moveit_visual_tools::VisualTools::nh_ [protected]

Definition at line 105 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::path_marker_ [protected]

Definition at line 148 of file visual_tools.h.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::VisualTools::planning_scene_monitor_ [protected]

Definition at line 116 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_attach_collision_obj_ [protected]

Definition at line 110 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_collision_obj_ [protected]

Definition at line 109 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_display_path_ [protected]

Definition at line 111 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_planning_scene_diff_ [protected]

Definition at line 112 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_robot_state_ [protected]

Definition at line 113 of file visual_tools.h.

ros::Publisher moveit_visual_tools::VisualTools::pub_rviz_marker_ [protected]

Definition at line 108 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::rectangle_marker_ [protected]

Definition at line 146 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::reset_marker_ [protected]

Definition at line 150 of file visual_tools.h.

robot_model_loader::RobotModelLoaderPtr moveit_visual_tools::VisualTools::rm_loader_ [protected]

Definition at line 117 of file visual_tools.h.

robot_state::RobotModelConstPtr moveit_visual_tools::VisualTools::robot_model_ [protected]

Definition at line 157 of file visual_tools.h.

robot_state::RobotStatePtr moveit_visual_tools::VisualTools::shared_robot_state_ [protected]

Definition at line 156 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::sphere_marker_ [protected]

Definition at line 142 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::spheres_marker_ [protected]

Definition at line 149 of file visual_tools.h.

visualization_msgs::Marker moveit_visual_tools::VisualTools::text_marker_ [protected]

Definition at line 145 of file visual_tools.h.

tf::Pose moveit_visual_tools::VisualTools::tf_root_to_link_ [protected]

Definition at line 131 of file visual_tools.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation