#include <ObjectMessageGenerator.h>

Public Member Functions
bool	isConnected () const
	ObjectMessageGenerator (ros::NodeHandle &_node_priv, ros::NodeHandle &_node)
virtual	~ObjectMessageGenerator ()
Private Types
typedef object_msgs::ObjectInfo	ObjectInfoMsg
typedef object_msgs::Object	ObjectMsg
typedef std::map< std::string, moveit_msgs::CollisionObject >	ObjToPublishMap
Private Member Functions
void	connectPub (const ros::SingleSubscriberPublisher &p)
void	disconnectPub (const ros::SingleSubscriberPublisher &p)
moveit_msgs::CollisionObject	getCollisionGeometry (const std::string &name)
std::set< std::string >	getCurrentAttachedCollisionObjectNames ()
std::vector < moveit_msgs::AttachedCollisionObject >	getCurrentAttachedCollisionObjects ()
std::set< std::string >	getCurrentCollisionObjectNames ()
std::vector < moveit_msgs::CollisionObject >	getCurrentCollisionObjects (bool only_names=true)
void	publishCollisionsEvent (const ros::TimerEvent &e)
void	receiveObject (const ObjectMsg &msg)
moveit_msgs::CollisionObject	transferContent (const ObjectMsg &msg, bool skipGeometry)
void	updatePose (const ObjectMsg &newObj, moveit_msgs::CollisionObject &obj)
Private Attributes
MoveItCollisionMatrixManipulator	acmManip
std::set< std::string >	addedObjects
std::vector< std::string >	allowedCollisionLinks
std::string	COLLISION_OBJECT_TOPIC
ros::Publisher	collision_pub
std::string	GET_PLANNING_SCENE_SERVICE
bool	initExistingObj
boost::mutex	mutex
ros::NodeHandle	node
ros::NodeHandle	node_priv
ros::ServiceClient	object_info_client
ros::Subscriber	object_sub
std::string	OBJECTS_TOPIC
ObjToPublishMap	objsToPublish
ros::ServiceClient	planning_scene_client
ros::Publisher	planning_scene_pub
float	PUBLISH_COLLISION_RATE
ros::Timer	publishCollisionsTimer
std::string	REQUEST_OBJECTS_TOPIC
std::string	SET_PLANNING_SCENE_TOPIC
std::set< std::string >	skipObjects
bool	USE_PLANNING_SCENE_DIFF

Detailed Description

Takes objects of type object_msgs/Object published a topic and transforms and re-publishes it into a moveit_msgs/CollisionObject.

The object information is read from incoming object_msgs/Object messages. If not all information is available, a service of type object_msgs/ObjectInfoRequest.srv is sent, e.g. to get the geometry details when required.

There are currently two ways to send object information to MoveIt!:

1. Publishing the collision object on /collision_objects which is read by move_group. 2. Another approach is described in [this PR2 tutorial](http://docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/planning_scene_ros_api_tutorial.html), in section *"Add object to environment": publising a planning scene diff (message moveit_msgs::PlanningScene)*.

The approach to be taken can be set with a ROS parameter is set for it.

The parameters for this class can be specified in a YAML file, which needs to be loaded onto the ROS parameter server under **namespace moveit_object_handling**. An example is given in the directory *config*, filename "CollisionObjectsGenerator.yaml"

Author:: Jennifer Buehler

Definition at line 45 of file ObjectMessageGenerator.h.

Member Typedef Documentation

typedef object_msgs::ObjectInfo moveit_object_handling::ObjectMessageGenerator::ObjectInfoMsg [private]

Definition at line 50 of file ObjectMessageGenerator.h.

typedef object_msgs::Object moveit_object_handling::ObjectMessageGenerator::ObjectMsg [private]

Definition at line 49 of file ObjectMessageGenerator.h.

typedef std::map<std::string, moveit_msgs::CollisionObject> moveit_object_handling::ObjectMessageGenerator::ObjToPublishMap [private]

Definition at line 51 of file ObjectMessageGenerator.h.

Constructor & Destructor Documentation

ObjectMessageGenerator::ObjectMessageGenerator	(	ros::NodeHandle &	_node_priv,
		ros::NodeHandle &	_node
	)

Definition at line 16 of file ObjectMessageGenerator.cpp.

ObjectMessageGenerator::~ObjectMessageGenerator ( ) [virtual]

Definition at line 90 of file ObjectMessageGenerator.cpp.

Member Function Documentation

void ObjectMessageGenerator::connectPub ( const ros::SingleSubscriberPublisher & p ) [private]

Definition at line 94 of file ObjectMessageGenerator.cpp.

void ObjectMessageGenerator::disconnectPub ( const ros::SingleSubscriberPublisher & p ) [private]

Definition at line 122 of file ObjectMessageGenerator.cpp.

moveit_msgs::CollisionObject ObjectMessageGenerator::getCollisionGeometry ( const std::string & name ) [private]

Definition at line 288 of file ObjectMessageGenerator.cpp.

std::set< std::string > ObjectMessageGenerator::getCurrentAttachedCollisionObjectNames ( ) [private]

Definition at line 415 of file ObjectMessageGenerator.cpp.

std::vector< moveit_msgs::AttachedCollisionObject > ObjectMessageGenerator::getCurrentAttachedCollisionObjects ( ) [private]

Definition at line 391 of file ObjectMessageGenerator.cpp.

std::set< std::string > ObjectMessageGenerator::getCurrentCollisionObjectNames ( ) [private]

Definition at line 380 of file ObjectMessageGenerator.cpp.

std::vector< moveit_msgs::CollisionObject > ObjectMessageGenerator::getCurrentCollisionObjects ( bool only_names = true ) [private]

Definition at line 351 of file ObjectMessageGenerator.cpp.

bool ObjectMessageGenerator::isConnected ( ) const

Definition at line 112 of file ObjectMessageGenerator.cpp.

void ObjectMessageGenerator::publishCollisionsEvent ( const ros::TimerEvent & e ) [private]

Definition at line 132 of file ObjectMessageGenerator.cpp.

void ObjectMessageGenerator::receiveObject ( const ObjectMsg & msg ) [private]

Callback for object message

Definition at line 158 of file ObjectMessageGenerator.cpp.

moveit_msgs::CollisionObject ObjectMessageGenerator::transferContent	(	const ObjectMsg &	msg,
		bool	skipGeometry
	)		`[private]`

Helper to transfer contents from ObjectMsg to moveit_msgs::CollisionObject

Definition at line 317 of file ObjectMessageGenerator.cpp.

void ObjectMessageGenerator::updatePose	(	const ObjectMsg &	newObj,
		moveit_msgs::CollisionObject &	obj
	)		`[private]`

updates pose data in obj with information in newObj, leaves all other fields untouched

Definition at line 306 of file ObjectMessageGenerator.cpp.

Member Data Documentation

MoveItCollisionMatrixManipulator moveit_object_handling::ObjectMessageGenerator::acmManip [private]

Definition at line 126 of file ObjectMessageGenerator.h.

std::set<std::string> moveit_object_handling::ObjectMessageGenerator::addedObjects [private]

Definition at line 112 of file ObjectMessageGenerator.h.

std::vector<std::string> moveit_object_handling::ObjectMessageGenerator::allowedCollisionLinks [private]

Definition at line 124 of file ObjectMessageGenerator.h.

std::string moveit_object_handling::ObjectMessageGenerator::COLLISION_OBJECT_TOPIC [private]

Definition at line 95 of file ObjectMessageGenerator.h.

ros::Publisher moveit_object_handling::ObjectMessageGenerator::collision_pub [private]

Definition at line 101 of file ObjectMessageGenerator.h.

std::string moveit_object_handling::ObjectMessageGenerator::GET_PLANNING_SCENE_SERVICE [private]

Definition at line 96 of file ObjectMessageGenerator.h.

bool moveit_object_handling::ObjectMessageGenerator::initExistingObj [private]

Definition at line 135 of file ObjectMessageGenerator.h.

boost::mutex moveit_object_handling::ObjectMessageGenerator::mutex [private]

Definition at line 130 of file ObjectMessageGenerator.h.

ros::NodeHandle moveit_object_handling::ObjectMessageGenerator::node [private]

Definition at line 92 of file ObjectMessageGenerator.h.

ros::NodeHandle moveit_object_handling::ObjectMessageGenerator::node_priv [private]

Definition at line 92 of file ObjectMessageGenerator.h.

ros::ServiceClient moveit_object_handling::ObjectMessageGenerator::object_info_client [private]

Definition at line 106 of file ObjectMessageGenerator.h.

ros::Subscriber moveit_object_handling::ObjectMessageGenerator::object_sub [private]

Definition at line 104 of file ObjectMessageGenerator.h.

std::string moveit_object_handling::ObjectMessageGenerator::OBJECTS_TOPIC [private]

Definition at line 93 of file ObjectMessageGenerator.h.

ObjToPublishMap moveit_object_handling::ObjectMessageGenerator::objsToPublish [private]

Definition at line 128 of file ObjectMessageGenerator.h.

ros::ServiceClient moveit_object_handling::ObjectMessageGenerator::planning_scene_client [private]

Definition at line 108 of file ObjectMessageGenerator.h.

ros::Publisher moveit_object_handling::ObjectMessageGenerator::planning_scene_pub [private]

Definition at line 102 of file ObjectMessageGenerator.h.

float moveit_object_handling::ObjectMessageGenerator::PUBLISH_COLLISION_RATE [private]

Definition at line 98 of file ObjectMessageGenerator.h.

ros::Timer moveit_object_handling::ObjectMessageGenerator::publishCollisionsTimer [private]

Definition at line 132 of file ObjectMessageGenerator.h.

std::string moveit_object_handling::ObjectMessageGenerator::REQUEST_OBJECTS_TOPIC [private]

Definition at line 94 of file ObjectMessageGenerator.h.

std::string moveit_object_handling::ObjectMessageGenerator::SET_PLANNING_SCENE_TOPIC [private]

Definition at line 97 of file ObjectMessageGenerator.h.

std::set<std::string> moveit_object_handling::ObjectMessageGenerator::skipObjects [private]

Definition at line 117 of file ObjectMessageGenerator.h.

bool moveit_object_handling::ObjectMessageGenerator::USE_PLANNING_SCENE_DIFF [private]

Definition at line 99 of file ObjectMessageGenerator.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation