planning_scene_monitor::PlanningSceneMonitor Class Reference

PlanningSceneMonitor Subscribes to the topic planning_scene. More...

#include <planning_scene_monitor.h>

Inheritance diagram for planning_scene_monitor::PlanningSceneMonitor:

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...

Protected Attributes
AttachedBodyShapeHandles	attached_body_shape_handles_
ros::Subscriber	attached_collision_object_subscriber_
CollisionBodyShapeHandles	collision_body_shape_handles_
std::unique_ptr< tf::MessageFilter< moveit_msgs::CollisionObject > >	collision_object_filter_
std::unique_ptr< message_filters::Subscriber< moveit_msgs::CollisionObject > >	collision_object_subscriber_
CurrentStateMonitorPtr	current_state_monitor_
double	default_attached_padd_
	default attached padding More...
double	default_object_padd_
	default object padding More...
std::map< std::string, double >	default_robot_link_padd_
	default robot link padding More...
std::map< std::string, double >	default_robot_link_scale_
	default robot link scale More...
double	default_robot_padd_
	default robot padding More...
double	default_robot_scale_
	default robot scaling More...
ros::Time	last_robot_motion_time_
	Last time the state was updated. More...
ros::Time	last_update_time_
	mutex for stored scene More...
LinkShapeHandles	link_shape_handles_
std::string	monitor_name_
	The name of this scene monitor. More...
SceneUpdateType	new_scene_update_
boost::condition_variable_any	new_scene_update_condition_
ros::NodeHandle	nh_
	Last time the robot has moved. More...
std::unique_ptr< occupancy_map_monitor::OccupancyMapMonitor >	octomap_monitor_
planning_scene::PlanningScenePtr	parent_scene_
ros::Publisher	planning_scene_publisher_
ros::Subscriber	planning_scene_subscriber_
ros::Subscriber	planning_scene_world_subscriber_
std::unique_ptr< boost::thread >	publish_planning_scene_
double	publish_planning_scene_frequency_
SceneUpdateType	publish_update_types_
ros::CallbackQueue	queue_
std::string	robot_description_
ros::NodeHandle	root_nh_
planning_scene::PlanningScenePtr	scene_
planning_scene::PlanningSceneConstPtr	scene_const_
boost::shared_mutex	scene_update_mutex_
	if diffs are monitored, this is the pointer to the parent scene More...
boost::recursive_mutex	shape_handles_lock_
std::shared_ptr< ros::AsyncSpinner >	spinner_
boost::shared_ptr< tf::Transformer >	tf_
std::vector< boost::function< void(SceneUpdateType)> >	update_callbacks_
boost::recursive_mutex	update_lock_
	lock access to update_callbacks_ 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...

Detailed Description

PlanningSceneMonitor Subscribes to the topic planning_scene.

Definition at line 63 of file planning_scene_monitor.h.

Member Typedef Documentation

typedef std::map<const robot_state::AttachedBody*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > > planning_scene_monitor::PlanningSceneMonitor::AttachedBodyShapeHandles

protected

Definition at line 514 of file planning_scene_monitor.h.

typedef std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Affine3d*> > > planning_scene_monitor::PlanningSceneMonitor::CollisionBodyShapeHandles

protected

Definition at line 516 of file planning_scene_monitor.h.

typedef std::map<const robot_model::LinkModel*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > > planning_scene_monitor::PlanningSceneMonitor::LinkShapeHandles

protected

Definition at line 511 of file planning_scene_monitor.h.

Member Enumeration Documentation

enum planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType

Enumerator
UPDATE_NONE	No update.
UPDATE_STATE	The state in the monitored scene was updated.
UPDATE_TRANSFORMS	The maintained set of fixed transforms in the monitored scene was updated.
UPDATE_GEOMETRY	The geometry of the scene was updated. This includes receiving new octomaps, collision objects, attached objects, scene geometry, etc.
UPDATE_SCENE	The entire scene was updated.

Definition at line 66 of file planning_scene_monitor.h.

Constructor & Destructor Documentation

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.

Parameters

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.

Parameters

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.

Parameters

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.

Parameters

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.

Parameters

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.

Member Function Documentation

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.

void planning_scene_monitor::PlanningSceneMonitor::attachObjectCallback ( const moveit_msgs::AttachedCollisionObjectConstPtr &  obj )

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.

void planning_scene_monitor::PlanningSceneMonitor::collisionObjectCallback ( const moveit_msgs::CollisionObjectConstPtr &  obj )

protected

Callback for a new collision object msg.

Definition at line 621 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::collisionObjectFailTFCallback ( const moveit_msgs::CollisionObjectConstPtr &  obj, tf::filter_failure_reasons::FilterFailureReason  reason  )

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.

void planning_scene_monitor::PlanningSceneMonitor::configureCollisionMatrix ( const planning_scene::PlanningScenePtr &  scene )

protected

Configure the collision matrix for a particular scene.

Definition at line 1369 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::configureDefaultPadding ( )

protected

Configure the default padding.

Definition at line 1412 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback ( robot_state::AttachedBody *  attached_body, bool  just_attached  )

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.

void planning_scene_monitor::PlanningSceneMonitor::currentWorldObjectUpdateCallback ( const collision_detection::World::ObjectConstPtr &  object, collision_detection::World::Action  action  )

protected

Callback for a change in the world maintained by the planning scene.

Definition at line 841 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodiesFromOctree ( )

protected

Definition at line 713 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodyFromOctree ( const robot_state::AttachedBody *  attached_body )

protected

Definition at line 750 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree ( )

protected

Definition at line 649 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectFromOctree ( const collision_detection::World::ObjectConstPtr &  obj )

protected

Definition at line 789 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectsFromOctree ( )

protected

Definition at line 740 of file planning_scene_monitor.cpp.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultAttachedObjectPadding ( ) const

inline

Get the default attached padding.

Definition at line 245 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultObjectPadding ( ) const

inline

Get the default object padding.

Definition at line 239 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotPadding ( ) const

inline

Get the default robot padding.

Definition at line 227 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotScale ( ) const

inline

Get the default robot scaling.

Definition at line 233 of file planning_scene_monitor.h.

const ros::Time& planning_scene_monitor::PlanningSceneMonitor::getLastUpdateTime ( ) const

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.

const std::string& planning_scene_monitor::PlanningSceneMonitor::getName ( ) const

inline

Get the name of this monitor.

Definition at line 164 of file planning_scene_monitor.h.

const planning_scene::PlanningScenePtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( )

inline

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning

Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also

LockedPlanningSceneRO

LockedPlanningSceneRW.

Returns

A pointer to the current planning scene.

Definition at line 194 of file planning_scene_monitor.h.

const planning_scene::PlanningSceneConstPtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( ) const

inline

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning

Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also

LockedPlanningSceneRO

LockedPlanningSceneRW.

Returns

A pointer to the current planning scene.

Definition at line 202 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getPlanningScenePublishingFrequency ( ) const

inline

Get the maximum frequency at which planning scenes are published (Hz)

Definition at line 276 of file planning_scene_monitor.h.

const std::string& planning_scene_monitor::PlanningSceneMonitor::getRobotDescription ( ) const

inline

Get the stored robot description.

Returns

An instance of the stored robot description

Definition at line 221 of file planning_scene_monitor.h.

const robot_model::RobotModelConstPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModel ( ) const

inline

Definition at line 175 of file planning_scene_monitor.h.

const robot_model_loader::RobotModelLoaderPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModelLoader ( ) const

inline

Get the user kinematic model loader.

Definition at line 170 of file planning_scene_monitor.h.

bool planning_scene_monitor::PlanningSceneMonitor::getShapeTransformCache ( const std::string &  target_frame, const ros::Time &  target_time, occupancy_map_monitor::ShapeTransformCache &  cache  ) const

protected

Definition at line 968 of file planning_scene_monitor.cpp.

const CurrentStateMonitorPtr& planning_scene_monitor::PlanningSceneMonitor::getStateMonitor ( ) const

inline

Get the stored instance of the stored current state monitor.

Returns

An instance of the stored current state monitor

Definition at line 283 of file planning_scene_monitor.h.

CurrentStateMonitorPtr& planning_scene_monitor::PlanningSceneMonitor::getStateMonitorNonConst ( )

inline

Definition at line 288 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getStateUpdateFrequency ( ) const

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.

const boost::shared_ptr<tf::Transformer>& planning_scene_monitor::PlanningSceneMonitor::getTFClient ( ) const

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.

void planning_scene_monitor::PlanningSceneMonitor::getUpdatedFrameTransforms ( std::vector< geometry_msgs::TransformStamped > &  transforms )

private

List of callbacks to trigger when updates are received

Definition at line 1291 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodiesInOctree ( )

protected

Definition at line 698 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodyInOctree ( const robot_state::AttachedBody *  attached_body )

protected

Definition at line 772 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeRobotLinksInOctree ( )

protected

Definition at line 685 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectInOctree ( const collision_detection::World::ObjectConstPtr &  obj )

protected

Definition at line 812 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectsInOctree ( )

protected

Definition at line 725 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::initialize ( const planning_scene::PlanningScenePtr &  scene )

protected

Initialize the planning scene monitor.

Parameters

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.

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneCallback ( const moveit_msgs::PlanningSceneConstPtr &  scene )

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.

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneWorldCallback ( const moveit_msgs::PlanningSceneWorldConstPtr &  world )

protected

Callback for a new planning scene world.

Definition at line 589 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::octomapUpdateCallback ( )

protected

Callback for octomap updates.

Definition at line 1196 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::onStateUpdate ( const sensor_msgs::JointStateConstPtr &  joint_state )

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.

Parameters

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.

void planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread ( )

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.

Parameters

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.

Parameters

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.

Parameters

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.

Parameters

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.

void planning_scene_monitor::PlanningSceneMonitor::stateUpdateTimerCallback ( const ros::WallTimerEvent &  event )

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.

Member Data Documentation

AttachedBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::attached_body_shape_handles_

protected

Definition at line 519 of file planning_scene_monitor.h.

ros::Subscriber planning_scene_monitor::PlanningSceneMonitor::attached_collision_object_subscriber_

protected

Definition at line 498 of file planning_scene_monitor.h.

CollisionBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::collision_body_shape_handles_

protected

Definition at line 520 of file planning_scene_monitor.h.

collision_detection::CollisionPluginLoader planning_scene_monitor::PlanningSceneMonitor::collision_loader_

private

Definition at line 571 of file planning_scene_monitor.h.

std::unique_ptr<tf::MessageFilter<moveit_msgs::CollisionObject> > planning_scene_monitor::PlanningSceneMonitor::collision_object_filter_

protected

Definition at line 501 of file planning_scene_monitor.h.

std::unique_ptr<message_filters::Subscriber<moveit_msgs::CollisionObject> > planning_scene_monitor::PlanningSceneMonitor::collision_object_subscriber_

protected

Definition at line 500 of file planning_scene_monitor.h.

CurrentStateMonitorPtr planning_scene_monitor::PlanningSceneMonitor::current_state_monitor_

protected

Definition at line 507 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object"

static

The name of the topic used by default for attached collision objects.

Definition at line 89 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_attached_padd_

protected

default attached padding

Definition at line 480 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object"

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.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC = "joint_states"

static

The name of the topic used by default for receiving joint states.

Definition at line 86 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_object_padd_

protected

default object padding

Definition at line 478 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene"

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.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene"

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.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world"

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.

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_padd_

protected

default robot link padding

Definition at line 482 of file planning_scene_monitor.h.

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_scale_

protected

default robot link scale

Definition at line 484 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_robot_padd_

protected

default robot padding

Definition at line 474 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_robot_scale_

protected

default robot scaling

Definition at line 476 of file planning_scene_monitor.h.

ros::WallDuration planning_scene_monitor::PlanningSceneMonitor::dt_state_update_

private

the amount of time to wait in between updates to the robot state

Definition at line 552 of file planning_scene_monitor.h.

ros::Time planning_scene_monitor::PlanningSceneMonitor::last_robot_motion_time_

protected

Last time the state was updated.

Definition at line 464 of file planning_scene_monitor.h.

ros::WallTime planning_scene_monitor::PlanningSceneMonitor::last_robot_state_update_wall_time_

private

Last time the state was updated from current_state_monitor_.

Definition at line 566 of file planning_scene_monitor.h.

ros::Time planning_scene_monitor::PlanningSceneMonitor::last_update_time_

protected

mutex for stored scene

Definition at line 463 of file planning_scene_monitor.h.

LinkShapeHandles planning_scene_monitor::PlanningSceneMonitor::link_shape_handles_

protected

Definition at line 518 of file planning_scene_monitor.h.

std::string planning_scene_monitor::PlanningSceneMonitor::monitor_name_

protected

The name of this scene monitor.

Definition at line 457 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene"

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.

SceneUpdateType planning_scene_monitor::PlanningSceneMonitor::new_scene_update_

protected

Definition at line 491 of file planning_scene_monitor.h.

boost::condition_variable_any planning_scene_monitor::PlanningSceneMonitor::new_scene_update_condition_

protected

Definition at line 492 of file planning_scene_monitor.h.

ros::NodeHandle planning_scene_monitor::PlanningSceneMonitor::nh_

protected

Last time the robot has moved.

Definition at line 466 of file planning_scene_monitor.h.

std::unique_ptr<occupancy_map_monitor::OccupancyMapMonitor> planning_scene_monitor::PlanningSceneMonitor::octomap_monitor_

protected

Definition at line 504 of file planning_scene_monitor.h.

planning_scene::PlanningScenePtr planning_scene_monitor::PlanningSceneMonitor::parent_scene_

protected

Definition at line 461 of file planning_scene_monitor.h.

ros::Publisher planning_scene_monitor::PlanningSceneMonitor::planning_scene_publisher_

protected

Definition at line 487 of file planning_scene_monitor.h.

ros::Subscriber planning_scene_monitor::PlanningSceneMonitor::planning_scene_subscriber_

protected

Definition at line 495 of file planning_scene_monitor.h.

ros::Subscriber planning_scene_monitor::PlanningSceneMonitor::planning_scene_world_subscriber_

protected

Definition at line 496 of file planning_scene_monitor.h.

std::unique_ptr<boost::thread> planning_scene_monitor::PlanningSceneMonitor::publish_planning_scene_

protected

Definition at line 488 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::publish_planning_scene_frequency_

protected

Definition at line 489 of file planning_scene_monitor.h.

SceneUpdateType planning_scene_monitor::PlanningSceneMonitor::publish_update_types_

protected

Definition at line 490 of file planning_scene_monitor.h.

ros::CallbackQueue planning_scene_monitor::PlanningSceneMonitor::queue_

protected

Definition at line 468 of file planning_scene_monitor.h.

DynamicReconfigureImpl* planning_scene_monitor::PlanningSceneMonitor::reconfigure_impl_

private

Definition at line 573 of file planning_scene_monitor.h.

robot_model_loader::RobotModelLoaderPtr planning_scene_monitor::PlanningSceneMonitor::rm_loader_

private

Definition at line 568 of file planning_scene_monitor.h.

std::string planning_scene_monitor::PlanningSceneMonitor::robot_description_

protected

Definition at line 471 of file planning_scene_monitor.h.

robot_model::RobotModelConstPtr planning_scene_monitor::PlanningSceneMonitor::robot_model_

private

Definition at line 569 of file planning_scene_monitor.h.

ros::NodeHandle planning_scene_monitor::PlanningSceneMonitor::root_nh_

protected

Definition at line 467 of file planning_scene_monitor.h.

planning_scene::PlanningScenePtr planning_scene_monitor::PlanningSceneMonitor::scene_

protected

Definition at line 459 of file planning_scene_monitor.h.

planning_scene::PlanningSceneConstPtr planning_scene_monitor::PlanningSceneMonitor::scene_const_

protected

Definition at line 460 of file planning_scene_monitor.h.

boost::shared_mutex planning_scene_monitor::PlanningSceneMonitor::scene_update_mutex_

protected

if diffs are monitored, this is the pointer to the parent scene

Definition at line 462 of file planning_scene_monitor.h.

boost::recursive_mutex planning_scene_monitor::PlanningSceneMonitor::shape_handles_lock_

mutableprotected

Definition at line 521 of file planning_scene_monitor.h.

ros::Duration planning_scene_monitor::PlanningSceneMonitor::shape_transform_cache_lookup_wait_time_

private

the amount of time to wait when looking up transforms

Definition at line 557 of file planning_scene_monitor.h.

std::shared_ptr<ros::AsyncSpinner> planning_scene_monitor::PlanningSceneMonitor::spinner_

protected

Definition at line 469 of file planning_scene_monitor.h.

boost::mutex planning_scene_monitor::PlanningSceneMonitor::state_pending_mutex_

private

Definition at line 544 of file planning_scene_monitor.h.

volatile bool planning_scene_monitor::PlanningSceneMonitor::state_update_pending_

private

True when we need to update the RobotState from current_state_monitor_.

Definition at line 548 of file planning_scene_monitor.h.

ros::WallTimer planning_scene_monitor::PlanningSceneMonitor::state_update_timer_

private

timer for state updates.

Definition at line 562 of file planning_scene_monitor.h.

boost::shared_ptr<tf::Transformer> planning_scene_monitor::PlanningSceneMonitor::tf_

protected

Definition at line 470 of file planning_scene_monitor.h.

std::vector<boost::function<void(SceneUpdateType)> > planning_scene_monitor::PlanningSceneMonitor::update_callbacks_

protected

Definition at line 525 of file planning_scene_monitor.h.

boost::recursive_mutex planning_scene_monitor::PlanningSceneMonitor::update_lock_

protected

lock access to update_callbacks_

Definition at line 524 of file planning_scene_monitor.h.

---

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

• planning_scene_monitor.h
• planning_scene_monitor.cpp