PlanningSceneMonitor Subscribes to the topic planning_scene. More...
#include <planning_scene_monitor.h>
Classes | |
class | DynamicReconfigureImpl |
Public Types | |
enum | SceneUpdateType { UPDATE_NONE = 0, UPDATE_STATE = 1, UPDATE_TRANSFORMS = 2, UPDATE_GEOMETRY = 4, UPDATE_SCENE = 8 + UPDATE_STATE + UPDATE_TRANSFORMS + UPDATE_GEOMETRY } |
Public Member Functions | |
void | addUpdateCallback (const boost::function< void(SceneUpdateType)> &fn) |
Add a function to be called when an update to the scene is received. More... | |
void | clearOctomap () |
void | clearUpdateCallbacks () |
Clear the functions to be called when an update to the scene is received. More... | |
double | getDefaultAttachedObjectPadding () const |
Get the default attached padding. More... | |
double | getDefaultObjectPadding () const |
Get the default object padding. More... | |
double | getDefaultRobotPadding () const |
Get the default robot padding. More... | |
double | getDefaultRobotScale () const |
Get the default robot scaling. More... | |
const ros::Time & | getLastUpdateTime () const |
Return the time when the last update was made to the planning scene (by any monitor) More... | |
void | getMonitoredTopics (std::vector< std::string > &topics) const |
Get the topic names that the monitor is listening to. More... | |
const std::string & | getName () const |
Get the name of this monitor. More... | |
const planning_scene::PlanningScenePtr & | getPlanningScene () |
Avoid this function! Returns an unsafe pointer to the current planning scene. More... | |
const planning_scene::PlanningSceneConstPtr & | getPlanningScene () const |
Avoid this function! Returns an unsafe pointer to the current planning scene. More... | |
double | getPlanningScenePublishingFrequency () const |
Get the maximum frequency at which planning scenes are published (Hz) More... | |
const std::string & | getRobotDescription () const |
Get the stored robot description. More... | |
const robot_model::RobotModelConstPtr & | getRobotModel () const |
const robot_model_loader::RobotModelLoaderPtr & | getRobotModelLoader () const |
Get the user kinematic model loader. More... | |
const CurrentStateMonitorPtr & | getStateMonitor () const |
Get the stored instance of the stored current state monitor. More... | |
CurrentStateMonitorPtr & | getStateMonitorNonConst () |
double | getStateUpdateFrequency () const |
Get the maximum frequency (Hz) at which the current state of the planning scene is updated. More... | |
const boost::shared_ptr< tf::Transformer > & | getTFClient () const |
Get the instance of the TF client that was passed to the constructor of this class. More... | |
void | lockSceneRead () |
Lock the scene for reading (multiple threads can lock for reading at the same time) More... | |
void | lockSceneWrite () |
Lock the scene for writing (only one thread can lock for writing and no other thread can lock for reading) More... | |
void | monitorDiffs (bool flag) |
By default, the maintained planning scene does not reason about diffs. When the flag passed in is true, the maintained scene starts counting diffs. Future updates to the planning scene will be stored as diffs and can be retrieved as such. Setting the flag to false restores the default behaviour. Maintaining diffs is automatically enabled when publishing planning scenes. More... | |
bool | newPlanningSceneMessage (const moveit_msgs::PlanningScene &scene) |
PlanningSceneMonitor (const std::string &robot_description, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const robot_model_loader::RobotModelLoaderPtr &rml, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const std::string &robot_description, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const ros::NodeHandle &nh, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="") | |
Constructor. More... | |
void | publishDebugInformation (bool flag) |
bool | requestPlanningSceneState (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE) |
Request planning scene state using a service call. More... | |
void | setPlanningScenePublishingFrequency (double hz) |
Set the maximum frequency at which planning scenes are being published. More... | |
void | setStateUpdateFrequency (double hz) |
Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here. More... | |
void | startPublishingPlanningScene (SceneUpdateType event, const std::string &planning_scene_topic=MONITORED_PLANNING_SCENE_TOPIC) |
Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent. More... | |
void | startSceneMonitor (const std::string &scene_topic=DEFAULT_PLANNING_SCENE_TOPIC) |
Start the scene monitor. More... | |
void | startStateMonitor (const std::string &joint_states_topic=DEFAULT_JOINT_STATES_TOPIC, const std::string &attached_objects_topic=DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC) |
Start the current state monitor. More... | |
void | startWorldGeometryMonitor (const std::string &collision_objects_topic=DEFAULT_COLLISION_OBJECT_TOPIC, const std::string &planning_scene_world_topic=DEFAULT_PLANNING_SCENE_WORLD_TOPIC, const bool load_octomap_monitor=true) |
Start listening for objects in the world, the collision map and attached collision objects. Additionally, this function starts the OccupancyMapMonitor as well. More... | |
void | stopPublishingPlanningScene () |
Stop publishing the maintained planning scene. More... | |
void | stopSceneMonitor () |
Stop the scene monitor. More... | |
void | stopStateMonitor () |
Stop the state monitor. More... | |
void | stopWorldGeometryMonitor () |
Stop the world geometry monitor. More... | |
void | triggerSceneUpdateEvent (SceneUpdateType update_type) |
This function is called every time there is a change to the planning scene. More... | |
void | unlockSceneRead () |
Unlock the scene from reading (multiple threads can lock for reading at the same time) More... | |
void | unlockSceneWrite () |
Lock the scene from writing (only one thread can lock for writing and no other thread can lock for reading) More... | |
void | updateFrameTransforms () |
Update the transforms for the frames that are not part of the kinematic model using tf. Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called when data that uses transforms is received. However, this function should also be called before starting a planning request, for example. More... | |
void | updateSceneWithCurrentState () |
Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency(). More... | |
bool | updatesScene (const planning_scene::PlanningSceneConstPtr &scene) const |
Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained. More... | |
bool | updatesScene (const planning_scene::PlanningScenePtr &scene) const |
Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained. More... | |
bool | waitForCurrentRobotState (const ros::Time &t, double wait_time=1.) |
Wait for robot state to become more recent than time t. More... | |
~PlanningSceneMonitor () | |
Static Public Attributes | |
static const std::string | DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object" |
The name of the topic used by default for attached collision objects. More... | |
static const std::string | DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object" |
The name of the topic used by default for receiving collision objects in the world. More... | |
static const std::string | DEFAULT_JOINT_STATES_TOPIC = "joint_states" |
The name of the topic used by default for receiving joint states. More... | |
static const std::string | DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene" |
The name of the service used by default for requesting full planning scene state. More... | |
static const std::string | DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene" |
The name of the topic used by default for receiving full planning scenes or planning scene diffs. More... | |
static const std::string | DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world" |
static const std::string | MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene" |
Protected Types | |
typedef std::map< const robot_state::AttachedBody *, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, std::size_t > > > | AttachedBodyShapeHandles |
typedef std::map< std::string, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, const Eigen::Affine3d * > > > | CollisionBodyShapeHandles |
typedef std::map< const robot_model::LinkModel *, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, std::size_t > > > | LinkShapeHandles |
Protected Member Functions | |
void | attachObjectCallback (const moveit_msgs::AttachedCollisionObjectConstPtr &obj) |
Callback for a new attached object msg. More... | |
void | collisionObjectCallback (const moveit_msgs::CollisionObjectConstPtr &obj) |
Callback for a new collision object msg. More... | |
void | collisionObjectFailTFCallback (const moveit_msgs::CollisionObjectConstPtr &obj, tf::filter_failure_reasons::FilterFailureReason reason) |
Callback for a new collision object msg that failed to pass the TF filter. More... | |
void | configureCollisionMatrix (const planning_scene::PlanningScenePtr &scene) |
Configure the collision matrix for a particular scene. More... | |
void | configureDefaultPadding () |
Configure the default padding. More... | |
void | currentStateAttachedBodyUpdateCallback (robot_state::AttachedBody *attached_body, bool just_attached) |
Callback for a change for an attached object of the current state of the planning scene. More... | |
void | currentWorldObjectUpdateCallback (const collision_detection::World::ObjectConstPtr &object, collision_detection::World::Action action) |
Callback for a change in the world maintained by the planning scene. More... | |
void | excludeAttachedBodiesFromOctree () |
void | excludeAttachedBodyFromOctree (const robot_state::AttachedBody *attached_body) |
void | excludeRobotLinksFromOctree () |
void | excludeWorldObjectFromOctree (const collision_detection::World::ObjectConstPtr &obj) |
void | excludeWorldObjectsFromOctree () |
bool | getShapeTransformCache (const std::string &target_frame, const ros::Time &target_time, occupancy_map_monitor::ShapeTransformCache &cache) const |
void | includeAttachedBodiesInOctree () |
void | includeAttachedBodyInOctree (const robot_state::AttachedBody *attached_body) |
void | includeRobotLinksInOctree () |
void | includeWorldObjectInOctree (const collision_detection::World::ObjectConstPtr &obj) |
void | includeWorldObjectsInOctree () |
void | initialize (const planning_scene::PlanningScenePtr &scene) |
Initialize the planning scene monitor. More... | |
void | newPlanningSceneWorldCallback (const moveit_msgs::PlanningSceneWorldConstPtr &world) |
Callback for a new planning scene world. More... | |
void | octomapUpdateCallback () |
Callback for octomap updates. More... | |
Private Member Functions | |
void | getUpdatedFrameTransforms (std::vector< geometry_msgs::TransformStamped > &transforms) |
void | newPlanningSceneCallback (const moveit_msgs::PlanningSceneConstPtr &scene) |
void | onStateUpdate (const sensor_msgs::JointStateConstPtr &joint_state) |
void | scenePublishingThread () |
void | stateUpdateTimerCallback (const ros::WallTimerEvent &event) |
Private Attributes | |
collision_detection::CollisionPluginLoader | collision_loader_ |
ros::WallDuration | dt_state_update_ |
the amount of time to wait in between updates to the robot state More... | |
ros::WallTime | last_robot_state_update_wall_time_ |
Last time the state was updated from current_state_monitor_. More... | |
DynamicReconfigureImpl * | reconfigure_impl_ |
robot_model_loader::RobotModelLoaderPtr | rm_loader_ |
robot_model::RobotModelConstPtr | robot_model_ |
ros::Duration | shape_transform_cache_lookup_wait_time_ |
the amount of time to wait when looking up transforms More... | |
boost::mutex | state_pending_mutex_ |
volatile bool | state_update_pending_ |
True when we need to update the RobotState from current_state_monitor_. More... | |
ros::WallTimer | state_update_timer_ |
timer for state updates. More... | |
PlanningSceneMonitor Subscribes to the topic planning_scene.
Definition at line 63 of file planning_scene_monitor.h.
|
protected |
Definition at line 514 of file planning_scene_monitor.h.
|
protected |
Definition at line 516 of file planning_scene_monitor.h.
|
protected |
Definition at line 511 of file planning_scene_monitor.h.
Definition at line 66 of file planning_scene_monitor.h.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const std::string & | robot_description, |
const boost::shared_ptr< tf::Transformer > & | tf = boost::shared_ptr<tf::Transformer>() , |
||
const std::string & | name = "" |
||
) |
Constructor.
robot_description | The name of the ROS parameter that contains the URDF (in string format) |
tf | A pointer to a tf::Transformer |
name | A name identifying this planning scene monitor |
Definition at line 113 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const robot_model_loader::RobotModelLoaderPtr & | rml, |
const boost::shared_ptr< tf::Transformer > & | tf = boost::shared_ptr<tf::Transformer>() , |
||
const std::string & | name = "" |
||
) |
Constructor.
rml | A pointer to a kinematic model loader |
tf | A pointer to a tf::Transformer |
name | A name identifying this planning scene monitor |
Definition at line 126 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const planning_scene::PlanningScenePtr & | scene, |
const std::string & | robot_description, | ||
const boost::shared_ptr< tf::Transformer > & | tf = boost::shared_ptr<tf::Transformer>() , |
||
const std::string & | name = "" |
||
) |
Constructor.
scene | The scene instance to maintain up to date with monitored information |
robot_description | The name of the ROS parameter that contains the URDF (in string format) |
tf | A pointer to a tf::Transformer |
name | A name identifying this planning scene monitor |
Definition at line 119 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const planning_scene::PlanningScenePtr & | scene, |
const robot_model_loader::RobotModelLoaderPtr & | rml, | ||
const boost::shared_ptr< tf::Transformer > & | tf = boost::shared_ptr<tf::Transformer>() , |
||
const std::string & | name = "" |
||
) |
Constructor.
scene | The scene instance to maintain up to date with monitored information |
rml | A pointer to a kinematic model loader |
tf | A pointer to a tf::Transformer |
name | A name identifying this planning scene monitor |
Definition at line 132 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const planning_scene::PlanningScenePtr & | scene, |
const robot_model_loader::RobotModelLoaderPtr & | rml, | ||
const ros::NodeHandle & | nh, | ||
const boost::shared_ptr< tf::Transformer > & | tf = boost::shared_ptr<tf::Transformer>() , |
||
const std::string & | name = "" |
||
) |
Constructor.
scene | The scene instance to maintain up to date with monitored information |
rml | A pointer to a kinematic model loader |
nh | external parent NodeHandle The monitors will use this NodeHandle's CallbackQueue for updates. Usually, this should be a different queue than the global queue, otherwise you might run into timeouts. |
tf | A pointer to a tf::Transformer |
name | A name identifying this planning scene monitor |
Definition at line 144 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::~PlanningSceneMonitor | ( | ) |
Definition at line 155 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::addUpdateCallback | ( | const boost::function< void(SceneUpdateType)> & | fn | ) |
Add a function to be called when an update to the scene is received.
Definition at line 1271 of file planning_scene_monitor.cpp.
|
protected |
Callback for a new attached object msg.
Definition at line 635 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::clearOctomap | ( | ) |
Definition at line 502 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::clearUpdateCallbacks | ( | ) |
Clear the functions to be called when an update to the scene is received.
Definition at line 1278 of file planning_scene_monitor.cpp.
|
protected |
Callback for a new collision object msg.
Definition at line 621 of file planning_scene_monitor.cpp.
|
protected |
Callback for a new collision object msg that failed to pass the TF filter.
Definition at line 613 of file planning_scene_monitor.cpp.
|
protected |
Configure the collision matrix for a particular scene.
Definition at line 1369 of file planning_scene_monitor.cpp.
|
protected |
Configure the default padding.
Definition at line 1412 of file planning_scene_monitor.cpp.
|
protected |
Callback for a change for an attached object of the current state of the planning scene.
Definition at line 829 of file planning_scene_monitor.cpp.
|
protected |
Callback for a change in the world maintained by the planning scene.
Definition at line 841 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 713 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 750 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 649 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 789 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 740 of file planning_scene_monitor.cpp.
|
inline |
Get the default attached padding.
Definition at line 245 of file planning_scene_monitor.h.
|
inline |
Get the default object padding.
Definition at line 239 of file planning_scene_monitor.h.
|
inline |
Get the default robot padding.
Definition at line 227 of file planning_scene_monitor.h.
|
inline |
Get the default robot scaling.
Definition at line 233 of file planning_scene_monitor.h.
|
inline |
Return the time when the last update was made to the planning scene (by any monitor)
Definition at line 369 of file planning_scene_monitor.h.
void planning_scene_monitor::PlanningSceneMonitor::getMonitoredTopics | ( | std::vector< std::string > & | topics | ) | const |
Get the topic names that the monitor is listening to.
Definition at line 414 of file planning_scene_monitor.cpp.
|
inline |
Get the name of this monitor.
Definition at line 164 of file planning_scene_monitor.h.
|
inline |
Avoid this function! Returns an unsafe pointer to the current planning scene.
Definition at line 194 of file planning_scene_monitor.h.
|
inline |
Avoid this function! Returns an unsafe pointer to the current planning scene.
Definition at line 202 of file planning_scene_monitor.h.
|
inline |
Get the maximum frequency at which planning scenes are published (Hz)
Definition at line 276 of file planning_scene_monitor.h.
|
inline |
Get the stored robot description.
Definition at line 221 of file planning_scene_monitor.h.
|
inline |
Definition at line 175 of file planning_scene_monitor.h.
|
inline |
Get the user kinematic model loader.
Definition at line 170 of file planning_scene_monitor.h.
|
protected |
Definition at line 968 of file planning_scene_monitor.cpp.
|
inline |
Get the stored instance of the stored current state monitor.
Definition at line 283 of file planning_scene_monitor.h.
|
inline |
Definition at line 288 of file planning_scene_monitor.h.
|
inline |
Get the maximum frequency (Hz) at which the current state of the planning scene is updated.
Definition at line 322 of file planning_scene_monitor.h.
|
inline |
Get the instance of the TF client that was passed to the constructor of this class.
Definition at line 251 of file planning_scene_monitor.h.
|
private |
List of callbacks to trigger when updates are received
Definition at line 1291 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 698 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 772 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 685 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 812 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 725 of file planning_scene_monitor.cpp.
|
protected |
Initialize the planning scene monitor.
scene | The scene instance to fill with data (an instance is allocated if the one passed in is not allocated) |
Definition at line 177 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::lockSceneRead | ( | ) |
Lock the scene for reading (multiple threads can lock for reading at the same time)
Definition at line 917 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::lockSceneWrite | ( | ) |
Lock the scene for writing (only one thread can lock for writing and no other thread can lock for reading)
Definition at line 931 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::monitorDiffs | ( | bool | flag | ) |
By default, the maintained planning scene does not reason about diffs. When the flag passed in is true, the maintained scene starts counting diffs. Future updates to the planning scene will be stored as diffs and can be retrieved as such. Setting the flag to false restores the default behaviour. Maintaining diffs is automatically enabled when publishing planning scenes.
Definition at line 257 of file planning_scene_monitor.cpp.
|
private |
Definition at line 497 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage | ( | const moveit_msgs::PlanningScene & | scene | ) |
Definition at line 509 of file planning_scene_monitor.cpp.
|
protected |
Callback for a new planning scene world.
Definition at line 589 of file planning_scene_monitor.cpp.
|
protected |
Callback for octomap updates.
Definition at line 1196 of file planning_scene_monitor.cpp.
|
private |
Definition at line 1140 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::publishDebugInformation | ( | bool | flag | ) |
Definition at line 1363 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::requestPlanningSceneState | ( | const std::string & | service_name = DEFAULT_PLANNING_SCENE_SERVICE | ) |
Request planning scene state using a service call.
service_name | The name of the service to use for requesting the planning scene. This must be a service of type moveit_msgs::GetPlanningScene and is usually called "/get_planning_scene". |
Definition at line 465 of file planning_scene_monitor.cpp.
|
private |
Definition at line 331 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::setPlanningScenePublishingFrequency | ( | double | hz | ) |
Set the maximum frequency at which planning scenes are being published.
Definition at line 1284 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::setStateUpdateFrequency | ( | double | hz | ) |
Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here.
hz | the update frequency. By default this is 10Hz. |
Definition at line 1220 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::startPublishingPlanningScene | ( | SceneUpdateType | event, |
const std::string & | planning_scene_topic = MONITORED_PLANNING_SCENE_TOPIC |
||
) |
Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent.
Definition at line 318 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor | ( | const std::string & | scene_topic = DEFAULT_PLANNING_SCENE_TOPIC | ) |
Start the scene monitor.
scene_topic | The name of the planning scene topic |
Definition at line 945 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::startStateMonitor | ( | const std::string & | joint_states_topic = DEFAULT_JOINT_STATES_TOPIC , |
const std::string & | attached_objects_topic = DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC |
||
) |
Start the current state monitor.
joint_states_topic | the topic to listen to for joint states |
attached_objects_topic | the topic to listen to for attached collision objects |
Definition at line 1095 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::startWorldGeometryMonitor | ( | const std::string & | collision_objects_topic = DEFAULT_COLLISION_OBJECT_TOPIC , |
const std::string & | planning_scene_world_topic = DEFAULT_PLANNING_SCENE_WORLD_TOPIC , |
||
const bool | load_octomap_monitor = true |
||
) |
Start listening for objects in the world, the collision map and attached collision objects. Additionally, this function starts the OccupancyMapMonitor as well.
collision_objects_topic | The topic on which to listen for collision objects |
planning_scene_world_topic | The topic to listen to for world scene geometry |
load_octomap_monitor | Flag to disable octomap monitor if desired |
Definition at line 1020 of file planning_scene_monitor.cpp.
|
private |
Definition at line 1165 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopPublishingPlanningScene | ( | ) |
Stop publishing the maintained planning scene.
Definition at line 304 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor | ( | ) |
Stop the scene monitor.
Definition at line 959 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor | ( | ) |
Stop the state monitor.
Definition at line 1125 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopWorldGeometryMonitor | ( | ) |
Stop the world geometry monitor.
Definition at line 1077 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::triggerSceneUpdateEvent | ( | SceneUpdateType | update_type | ) |
This function is called every time there is a change to the planning scene.
Definition at line 454 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::unlockSceneRead | ( | ) |
Unlock the scene from reading (multiple threads can lock for reading at the same time)
Definition at line 924 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::unlockSceneWrite | ( | ) |
Lock the scene from writing (only one thread can lock for writing and no other thread can lock for reading)
Definition at line 938 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms | ( | ) |
Update the transforms for the frames that are not part of the kinematic model using tf. Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called when data that uses transforms is received. However, this function should also be called before starting a planning request, for example.
Definition at line 1345 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::updateSceneWithCurrentState | ( | ) |
Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency().
Definition at line 1245 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::updatesScene | ( | const planning_scene::PlanningSceneConstPtr & | scene | ) | const |
Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained.
Definition at line 449 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::updatesScene | ( | const planning_scene::PlanningScenePtr & | scene | ) | const |
Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained.
Definition at line 444 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::waitForCurrentRobotState | ( | const ros::Time & | t, |
double | wait_time = 1. |
||
) |
Wait for robot state to become more recent than time t.
If there is no state monitor active, there will be no scene updates. Hence, you can specify a timeout to wait for those updates. Default is 1s.
Definition at line 860 of file planning_scene_monitor.cpp.
|
protected |
Definition at line 519 of file planning_scene_monitor.h.
|
protected |
Definition at line 498 of file planning_scene_monitor.h.
|
protected |
Definition at line 520 of file planning_scene_monitor.h.
|
private |
Definition at line 571 of file planning_scene_monitor.h.
|
protected |
Definition at line 501 of file planning_scene_monitor.h.
|
protected |
Definition at line 500 of file planning_scene_monitor.h.
|
protected |
Definition at line 507 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for attached collision objects.
Definition at line 89 of file planning_scene_monitor.h.
|
protected |
default attached padding
Definition at line 480 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for receiving collision objects in the world.
Definition at line 92 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for receiving joint states.
Definition at line 86 of file planning_scene_monitor.h.
|
protected |
default object padding
Definition at line 478 of file planning_scene_monitor.h.
|
static |
The name of the service used by default for requesting full planning scene state.
Definition at line 102 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for receiving full planning scenes or planning scene diffs.
Definition at line 99 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for receiving geometry information about a planning scene (complete overwrite of world geometry)
Definition at line 96 of file planning_scene_monitor.h.
|
protected |
default robot link padding
Definition at line 482 of file planning_scene_monitor.h.
|
protected |
default robot link scale
Definition at line 484 of file planning_scene_monitor.h.
|
protected |
default robot padding
Definition at line 474 of file planning_scene_monitor.h.
|
protected |
default robot scaling
Definition at line 476 of file planning_scene_monitor.h.
|
private |
the amount of time to wait in between updates to the robot state
Definition at line 552 of file planning_scene_monitor.h.
|
protected |
Last time the state was updated.
Definition at line 464 of file planning_scene_monitor.h.
|
private |
Last time the state was updated from current_state_monitor_.
Definition at line 566 of file planning_scene_monitor.h.
|
protected |
mutex for stored scene
Definition at line 463 of file planning_scene_monitor.h.
|
protected |
Definition at line 518 of file planning_scene_monitor.h.
|
protected |
The name of this scene monitor.
Definition at line 457 of file planning_scene_monitor.h.
|
static |
The name of the topic used by default for publishing the monitored planning scene (this is without "/" in the name, so the topic is prefixed by the node name)
Definition at line 106 of file planning_scene_monitor.h.
|
protected |
Definition at line 491 of file planning_scene_monitor.h.
|
protected |
Definition at line 492 of file planning_scene_monitor.h.
|
protected |
Last time the robot has moved.
Definition at line 466 of file planning_scene_monitor.h.
|
protected |
Definition at line 504 of file planning_scene_monitor.h.
|
protected |
Definition at line 461 of file planning_scene_monitor.h.
|
protected |
Definition at line 487 of file planning_scene_monitor.h.
|
protected |
Definition at line 495 of file planning_scene_monitor.h.
|
protected |
Definition at line 496 of file planning_scene_monitor.h.
|
protected |
Definition at line 488 of file planning_scene_monitor.h.
|
protected |
Definition at line 489 of file planning_scene_monitor.h.
|
protected |
Definition at line 490 of file planning_scene_monitor.h.
|
protected |
Definition at line 468 of file planning_scene_monitor.h.
|
private |
Definition at line 573 of file planning_scene_monitor.h.
|
private |
Definition at line 568 of file planning_scene_monitor.h.
|
protected |
Definition at line 471 of file planning_scene_monitor.h.
|
private |
Definition at line 569 of file planning_scene_monitor.h.
|
protected |
Definition at line 467 of file planning_scene_monitor.h.
|
protected |
Definition at line 459 of file planning_scene_monitor.h.
|
protected |
Definition at line 460 of file planning_scene_monitor.h.
|
protected |
if diffs are monitored, this is the pointer to the parent scene
Definition at line 462 of file planning_scene_monitor.h.
|
mutableprotected |
Definition at line 521 of file planning_scene_monitor.h.
|
private |
the amount of time to wait when looking up transforms
Definition at line 557 of file planning_scene_monitor.h.
|
protected |
Definition at line 469 of file planning_scene_monitor.h.
|
private |
Definition at line 544 of file planning_scene_monitor.h.
|
private |
True when we need to update the RobotState from current_state_monitor_.
Definition at line 548 of file planning_scene_monitor.h.
|
private |
timer for state updates.
Definition at line 562 of file planning_scene_monitor.h.
|
protected |
Definition at line 470 of file planning_scene_monitor.h.
|
protected |
Definition at line 525 of file planning_scene_monitor.h.
|
protected |
lock access to update_callbacks_
Definition at line 524 of file planning_scene_monitor.h.