This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt! configuration package. More...

#include <moveit_config_data.h>

Classes
struct	joint_model_compare
	Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order. More...

Public Types
enum	InformationFields { COLLISIONS = 1 << 1, VIRTUAL_JOINTS = 1 << 2, GROUPS = 1 << 3, GROUP_CONTENTS = 1 << 4, GROUP_KINEMATICS = 1 << 5, POSES = 1 << 6, END_EFFECTORS = 1 << 7, PASSIVE_JOINTS = 1 << 8, AUTHOR_INFO = 1 << 9, SENSORS_CONFIG = 1 << 10, SRDF = COLLISIONS \| VIRTUAL_JOINTS \| GROUPS \| GROUP_CONTENTS \| POSES \| END_EFFECTORS \| PASSIVE_JOINTS }

Public Member Functions
bool	addDefaultControllers ()
	Add a Follow Joint Trajectory action Controller for each Planning Group. More...

void	addGenericParameterToSensorPluginConfig (const std::string &name, const std::string &value="", const std::string &comment="")
	Used for adding a sensor plugin configuation prameter to the sensor plugin configuration parameter list. More...

bool	addROSController (const ROSControlConfig &new_controller)
	Adds a ROS controller to ros_controllers_config_ vector. More...

std::string	appendPaths (const std::string &path1, const std::string &path2)

void	clearSensorPluginConfig ()
	Clear the sensor plugin configuration parameter list. More...

bool	createFullSRDFPath (const std::string &package_path)
	Make the full SRDF path using the loaded .setup_assistant data. More...

bool	createFullURDFPath ()
	Make the full URDF path using the loaded .setup_assistant data. More...

std::string	decideProjectionJoints (std::string planning_group)
	Decide the best two joints to be used for the projection evaluator. More...

bool	deleteROSController (const std::string &controller_name)

srdf::Model::Group *	findGroupByName (const std::string &name)

ROSControlConfig *	findROSControllerByName (const std::string &controller_name)

std::string	getDefaultStartPose ()
	Helper function to get the default start pose for moveit_sim_hw_interface. More...

std::string	getDefaultStartStateGroup ()
	Helper function to get the default start state group for moveit_sim_hw_interface. More...

std::string	getGazeboCompatibleURDF ()
	Parses the existing urdf and constructs a string from it with the elements required by gazebo simulator added. More...

std::string	getJointHardwareInterface (const std::string &joint_name)
	Helper function to get the controller that is controlling the joint. More...

std::vector< OMPLPlannerDescription >	getOMPLPlanners ()

planning_scene::PlanningScenePtr	getPlanningScene ()
	Provide a shared planning scene. More...

robot_model::RobotModelConstPtr	getRobotModel ()
	Provide a shared kinematic model loader. More...

std::vector< ROSControlConfig > &	getROSControllers ()
	Gets ros_controllers_config_ vector. More...

std::vector< std::map< std::string, GenericParameter > >	getSensorPluginConfig ()
	Used for adding a sensor plugin configuation parameter to the sensor plugin configuration parameter list. More...

bool	getSetupAssistantYAMLPath (std::string &path)

bool	input3DSensorsYAML (const std::string &default_file_path, const std::string &file_path="")

bool	inputKinematicsYAML (const std::string &file_path)

bool	inputOMPLYAML (const std::string &file_path)

bool	inputROSControllersYAML (const std::string &file_path)

bool	inputSetupAssistantYAML (const std::string &file_path)

void	loadAllowedCollisionMatrix ()
	Load the allowed collision matrix from the SRDF's list of link pairs. More...

	MoveItConfigData ()

bool	output3DSensorPluginYAML (const std::string &file_path)

bool	outputCHOMPPlanningYAML (const std::string &file_path)

bool	outputFakeControllersYAML (const std::string &file_path)

void	outputFollowJointTrajectoryYAML (YAML::Emitter &emitter, std::vector< ROSControlConfig > &ros_controllers_config_output)

bool	outputJointLimitsYAML (const std::string &file_path)

bool	outputKinematicsYAML (const std::string &file_path)

bool	outputOMPLPlanningYAML (const std::string &file_path)

bool	outputROSControllersYAML (const std::string &file_path)

bool	outputSetupAssistantFile (const std::string &file_path)

bool	parseROSController (const YAML::Node &controller)

bool	processROSControllers (std::ifstream &input_stream)

void	setCollisionLinkPairs (const moveit_setup_assistant::LinkPairMap &link_pairs, size_t skip_mask=0)
	Set list of collision link pairs in SRDF; sorted; with optional filter. More...

bool	setPackagePath (const std::string &pkg_path)

void	setRobotModel (robot_model::RobotModelPtr robot_model)
	Load a robot model. More...

void	updateRobotModel ()
	Update the Kinematic Model with latest SRDF modifications. More...

	~MoveItConfigData ()

Public Attributes
collision_detection::AllowedCollisionMatrix	allowed_collision_matrix_
	Allowed collision matrix for robot poses. More...

std::string	author_email_
	Email of the author of this config. More...

std::string	author_name_
	Name of the author of this config. More...

unsigned long	changes

std::time_t	config_pkg_generated_timestamp_
	Timestamp when configuration package was generated, if it was previously generated. More...

std::string	config_pkg_path_
	Loaded configuration package path - if an existing package was loaded, holds that path. More...

bool	debug_
	Is this application in debug mode? More...

std::map< std::string, GroupMetaData >	group_meta_data_
	Planning groups extra data not found in srdf but used in config files. More...

std::string	setup_assistant_path_
	Setup Assistants package's path for when we use its templates. More...

srdf::SRDFWriterPtr	srdf_
	SRDF Data and Writer. More...

std::string	srdf_path_
	Full file-system path to srdf. More...

std::string	srdf_pkg_relative_path_
	Path relative to loaded configuration package. More...

std::string	template_package_path_
	Location that moveit_setup_assistant stores its templates. More...

bool	urdf_from_xacro_
	Flag indicating whether the URDF was loaded from .xacro format. More...

urdf::ModelSharedPtr	urdf_model_
	URDF robot model. More...

std::string	urdf_path_
	Full file-system path to urdf. More...

std::string	urdf_pkg_name_
	Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg) More...

std::string	urdf_pkg_relative_path_
	Path relative to urdf package (note: this may be same as urdf_path_) More...

std::string	urdf_string_
	URDF robot model string. More...

std::string	xacro_args_
	xacro arguments More...

Private Attributes
planning_scene::PlanningScenePtr	planning_scene_
	Shared planning scene. More...

robot_model::RobotModelPtr	robot_model_
	Shared kinematic model. More...

std::vector< ROSControlConfig >	ros_controllers_config_
	ROS Controllers config data. More...

std::vector< std::map< std::string, GenericParameter > >	sensors_plugin_config_parameter_list_
	Sensor plugin configuration parameter list, each sensor plugin type is a map. More...

Detailed Description

This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt! configuration package.

All SRDF data is contained in a subclass of this class - srdf_writer.cpp. This class also contains the functions for writing out the configuration files.

Definition at line 188 of file moveit_config_data.h.

Member Enumeration Documentation

enum moveit_setup_assistant::MoveItConfigData::InformationFields

Enumerator
COLLISIONS
VIRTUAL_JOINTS
GROUPS
GROUP_CONTENTS
GROUP_KINEMATICS
POSES
END_EFFECTORS
PASSIVE_JOINTS
AUTHOR_INFO
SENSORS_CONFIG
SRDF

Definition at line 195 of file moveit_config_data.h.

Constructor & Destructor Documentation

MoveItConfigData::MoveItConfigData ( )

Definition at line 56 of file moveit_config_data.cpp.

MoveItConfigData::~MoveItConfigData ( )

Definition at line 76 of file moveit_config_data.cpp.

Member Function Documentation

bool MoveItConfigData::addDefaultControllers ( )

Add a Follow Joint Trajectory action Controller for each Planning Group.

Returns: true if controllers were added to the ros_controllers_config_ data structure

Definition at line 1453 of file moveit_config_data.cpp.

void MoveItConfigData::addGenericParameterToSensorPluginConfig	(	const std::string &	name,
		const std::string &	value = `""`,
		const std::string &	comment = `""`
	)

Used for adding a sensor plugin configuation prameter to the sensor plugin configuration parameter list.

Definition at line 1832 of file moveit_config_data.cpp.

bool MoveItConfigData::addROSController ( const ROSControlConfig & new_controller )

Adds a ROS controller to ros_controllers_config_ vector.

Parameters

new_controller a new ROS Controller to add

Returns: true if inserted correctly

Definition at line 1806 of file moveit_config_data.cpp.

std::string MoveItConfigData::appendPaths	(	const std::string &	path1,
		const std::string &	path2
	)

Helper Function for joining a file path and a file name, or two file paths, etc, in a cross-platform way

Parameters

path1	first half of path
path2	second half of path, or filename

Returns: string resulting combined paths

Definition at line 1734 of file moveit_config_data.cpp.

void MoveItConfigData::clearSensorPluginConfig ( )

Clear the sensor plugin configuration parameter list.

Definition at line 1853 of file moveit_config_data.cpp.

bool MoveItConfigData::createFullSRDFPath ( const std::string & package_path )

Make the full SRDF path using the loaded .setup_assistant data.

Definition at line 1559 of file moveit_config_data.cpp.

bool MoveItConfigData::createFullURDFPath ( )

Make the full URDF path using the loaded .setup_assistant data.

Definition at line 1527 of file moveit_config_data.cpp.

std::string MoveItConfigData::decideProjectionJoints ( std::string planning_group )

Decide the best two joints to be used for the projection evaluator.

Parameters

planning_group name of group to use

Returns: string - value to insert into yaml file

Definition at line 1190 of file moveit_config_data.cpp.

bool MoveItConfigData::deleteROSController ( const std::string & controller_name )

Delete ROS controller by name

Parameters

controller_name - name of ROS controller to delete

Returns: true if deleted, false if not found

Definition at line 1788 of file moveit_config_data.cpp.

srdf::Model::Group * MoveItConfigData::findGroupByName ( const std::string & name )

Find the associated group by name

Parameters

name	- name of data to find in datastructure

Returns: pointer to data in datastructure

Definition at line 1741 of file moveit_config_data.cpp.

ROSControlConfig * MoveItConfigData::findROSControllerByName ( const std::string & controller_name )

Find the associated ROS controller by name

Parameters

controller_name - name of ROS controller to find in datastructure

Returns: pointer to data in datastructure

Definition at line 1767 of file moveit_config_data.cpp.

std::string MoveItConfigData::getDefaultStartPose ( )

Helper function to get the default start pose for moveit_sim_hw_interface.

Definition at line 812 of file moveit_config_data.cpp.

std::string MoveItConfigData::getDefaultStartStateGroup ( )

Helper function to get the default start state group for moveit_sim_hw_interface.

Definition at line 802 of file moveit_config_data.cpp.

std::string MoveItConfigData::getGazeboCompatibleURDF ( )

Parses the existing urdf and constructs a string from it with the elements required by gazebo simulator added.

Returns: gazebo compatible urdf or empty if error encountered

Definition at line 404 of file moveit_config_data.cpp.

std::string MoveItConfigData::getJointHardwareInterface ( const std::string & joint_name )

Helper function to get the controller that is controlling the joint.

Returns: controller type

Definition at line 380 of file moveit_config_data.cpp.

std::vector< OMPLPlannerDescription > MoveItConfigData::getOMPLPlanners ( )

Definition at line 553 of file moveit_config_data.cpp.

planning_scene::PlanningScenePtr MoveItConfigData::getPlanningScene ( )

Provide a shared planning scene.

Definition at line 122 of file moveit_config_data.cpp.

robot_model::RobotModelConstPtr MoveItConfigData::getRobotModel ( )

Provide a shared kinematic model loader.

Definition at line 91 of file moveit_config_data.cpp.

std::vector< ROSControlConfig > & MoveItConfigData::getROSControllers ( )

Gets ros_controllers_config_ vector.

Returns: pointer to ros_controllers_config_

Definition at line 1824 of file moveit_config_data.cpp.

std::vector< std::map< std::string, GenericParameter > > MoveItConfigData::getSensorPluginConfig ( )

Used for adding a sensor plugin configuation parameter to the sensor plugin configuration parameter list.

Definition at line 1845 of file moveit_config_data.cpp.

bool MoveItConfigData::getSetupAssistantYAMLPath ( std::string & path )

Resolve path to .setup_assistant file

Parameters

path	resolved path

Returns: true if the path could be resolved

Definition at line 1516 of file moveit_config_data.cpp.

bool MoveItConfigData::input3DSensorsYAML	(	const std::string &	default_file_path,
		const std::string &	file_path = `""`
	)

Input sensors_3d file - contains 3d sensors config data

Parameters

default_file_path	path to sensors_3d yaml file which contains default parameter values
file_path	path to sensors_3d yaml file in the config package

Returns: true if the file was read correctly

Definition at line 1625 of file moveit_config_data.cpp.

bool MoveItConfigData::inputKinematicsYAML ( const std::string & file_path )

Input kinematics.yaml file for editing its values

Parameters

file_path path to kinematics.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1278 of file moveit_config_data.cpp.

bool MoveItConfigData::inputOMPLYAML ( const std::string & file_path )

Input ompl_planning.yaml file for editing its values

Parameters

file_path path to ompl_planning.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1230 of file moveit_config_data.cpp.

bool MoveItConfigData::inputROSControllersYAML ( const std::string & file_path )

Input ros_controllers.yaml file for editing its values

Parameters

file_path path to ros_controllers.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1426 of file moveit_config_data.cpp.

bool MoveItConfigData::inputSetupAssistantYAML ( const std::string & file_path )

Input .setup_assistant file - contains data used for the MoveIt! Setup Assistant

Parameters

file_path path to .setup_assistant file

Returns: true if the file was read correctly

Definition at line 1569 of file moveit_config_data.cpp.

void MoveItConfigData::loadAllowedCollisionMatrix ( )

Load the allowed collision matrix from the SRDF's list of link pairs.

Definition at line 138 of file moveit_config_data.cpp.

bool MoveItConfigData::output3DSensorPluginYAML ( const std::string & file_path )

Definition at line 1003 of file moveit_config_data.cpp.

bool MoveItConfigData::outputCHOMPPlanningYAML ( const std::string & file_path )

Definition at line 285 of file moveit_config_data.cpp.

bool MoveItConfigData::outputFakeControllersYAML ( const std::string & file_path )

Definition at line 506 of file moveit_config_data.cpp.

void MoveItConfigData::outputFollowJointTrajectoryYAML	(	YAML::Emitter &	emitter,
		std::vector< ROSControlConfig > &	ros_controllers_config_output
	)

Helper function for writing follow joint trajectory ROS controllers to ros_controllers.yaml

Parameters

YAML	Emitter - yaml emitter used to write the config to the ROS controllers yaml file
vector<ROSControlConfig>	- a copy of ROS controllers config which will be modified in the function

Definition at line 743 of file moveit_config_data.cpp.

bool MoveItConfigData::outputJointLimitsYAML ( const std::string & file_path )

Definition at line 1047 of file moveit_config_data.cpp.

bool MoveItConfigData::outputKinematicsYAML ( const std::string & file_path )

Definition at line 326 of file moveit_config_data.cpp.

bool MoveItConfigData::outputOMPLPlanningYAML ( const std::string & file_path )

Definition at line 204 of file moveit_config_data.cpp.

bool MoveItConfigData::outputROSControllersYAML ( const std::string & file_path )

Definition at line 822 of file moveit_config_data.cpp.

bool MoveItConfigData::outputSetupAssistantFile ( const std::string & file_path )

SRDF Path Location

Package generation time

Definition at line 154 of file moveit_config_data.cpp.

bool MoveItConfigData::parseROSController ( const YAML::Node & controller )

Helper function for parsing ros_controllers.yaml file

Parameters

YAML::Node - individual controller to be parsed

Returns: true if the file was read correctly

Definition at line 1324 of file moveit_config_data.cpp.

bool MoveItConfigData::processROSControllers ( std::ifstream & input_stream )

Helper function for parsing ros_controllers.yaml file

Parameters

std::ifstream of ros_controller.yaml

Returns: true if the file was read correctly

Definition at line 1370 of file moveit_config_data.cpp.

void MoveItConfigData::setCollisionLinkPairs	(	const moveit_setup_assistant::LinkPairMap &	link_pairs,
		size_t	skip_mask = `0`
	)

Set list of collision link pairs in SRDF; sorted; with optional filter.

Parameters

link_pairs	list of collision link pairs
skip_mask	mask of shifted moveit_setup_assistant::DisabledReason values that will be skipped

Definition at line 1158 of file moveit_config_data.cpp.

bool MoveItConfigData::setPackagePath ( const std::string & pkg_path )

Set package path; try to resolve path from package name if directory does not exist

Parameters

pkg_path path to package or package name

Returns: true if the path was set

Definition at line 1486 of file moveit_config_data.cpp.

void MoveItConfigData::setRobotModel ( robot_model::RobotModelPtr robot_model )

Load a robot model.

Definition at line 83 of file moveit_config_data.cpp.

void MoveItConfigData::updateRobotModel ( )

Update the Kinematic Model with latest SRDF modifications.

Definition at line 105 of file moveit_config_data.cpp.

Member Data Documentation

collision_detection::AllowedCollisionMatrix moveit_setup_assistant::MoveItConfigData::allowed_collision_matrix_

Allowed collision matrix for robot poses.

Definition at line 270 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::author_email_

Email of the author of this config.

Definition at line 279 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::author_name_

Name of the author of this config.

Definition at line 276 of file moveit_config_data.h.

unsigned long moveit_setup_assistant::MoveItConfigData::changes

Definition at line 209 of file moveit_config_data.h.

std::time_t moveit_setup_assistant::MoveItConfigData::config_pkg_generated_timestamp_

Timestamp when configuration package was generated, if it was previously generated.

Definition at line 273 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::config_pkg_path_

Loaded configuration package path - if an existing package was loaded, holds that path.

Definition at line 261 of file moveit_config_data.h.

bool moveit_setup_assistant::MoveItConfigData::debug_

Is this application in debug mode?

Definition at line 267 of file moveit_config_data.h.

std::map<std::string, GroupMetaData> moveit_setup_assistant::MoveItConfigData::group_meta_data_

Planning groups extra data not found in srdf but used in config files.

Definition at line 255 of file moveit_config_data.h.

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::planning_scene_

private

Shared planning scene.

Definition at line 529 of file moveit_config_data.h.

robot_model::RobotModelPtr moveit_setup_assistant::MoveItConfigData::robot_model_

private

Shared kinematic model.

Definition at line 523 of file moveit_config_data.h.

std::vector<ROSControlConfig> moveit_setup_assistant::MoveItConfigData::ros_controllers_config_

private

ROS Controllers config data.

Definition at line 526 of file moveit_config_data.h.

std::vector<std::map<std::string, GenericParameter> > moveit_setup_assistant::MoveItConfigData::sensors_plugin_config_parameter_list_

private

Sensor plugin configuration parameter list, each sensor plugin type is a map.

Definition at line 520 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::setup_assistant_path_

Setup Assistants package's path for when we use its templates.

Definition at line 258 of file moveit_config_data.h.

srdf::SRDFWriterPtr moveit_setup_assistant::MoveItConfigData::srdf_

SRDF Data and Writer.

Definition at line 248 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::srdf_path_

Full file-system path to srdf.

Definition at line 242 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::srdf_pkg_relative_path_

Path relative to loaded configuration package.

Definition at line 245 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::template_package_path_

Location that moveit_setup_assistant stores its templates.

Definition at line 264 of file moveit_config_data.h.

bool moveit_setup_assistant::MoveItConfigData::urdf_from_xacro_

Flag indicating whether the URDF was loaded from .xacro format.

Definition at line 227 of file moveit_config_data.h.

urdf::ModelSharedPtr moveit_setup_assistant::MoveItConfigData::urdf_model_

URDF robot model.

Definition at line 232 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_path_

Full file-system path to urdf.

Definition at line 218 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_name_

Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)

Definition at line 221 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_relative_path_

Path relative to urdf package (note: this may be same as urdf_path_)

Definition at line 224 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_string_

URDF robot model string.

Definition at line 235 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::xacro_args_

xacro arguments

Definition at line 229 of file moveit_config_data.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation