moveit_visual_tools::MoveItVisualTools Class Reference

#include <moveit_visual_tools.h>

Inheritance diagram for moveit_visual_tools::MoveItVisualTools:

Public Member Functions
bool	attachCO (const std::string &name, const std::string &ee_parent_link)
	Attach a collision object from the planning scene. More...
bool	cleanupACO (const std::string &name)
	Remove an active collision object from the planning scene. More...
bool	cleanupCO (const std::string &name)
	Remove a collision object from the planning scene. More...
void	disableRobotStateRootOffet ()
	Turn off the root offset feature. More...
void	enableRobotStateRootOffet (const Eigen::Affine3d &offset)
	All published robot states will have their virtual joint moved by offset. More...
void	getCollisionWallMsg (double x, double y, double z, double angle, double width, double height, const std::string name, moveit_msgs::CollisionObject &collision_obj)
	Helper for publishCollisionWall. More...
planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitor ()
	Get the planning scene monitor that this class is using. More...
moveit::core::RobotModelConstPtr	getRobotModel ()
	Get a pointer to the robot model. More...
moveit::core::RobotStatePtr &	getRootRobotState ()
	Allow robot state to be altered. More...
moveit::core::RobotStatePtr &	getSharedRobotState ()
	Allow robot state to be altered. More...
bool	hideRobot ()
	Fake removing a Robot State display in Rviz by simply moving it very far away. More...
bool	loadCollisionSceneFromFile (const std::string &path)
	Load a planning scene to a planning_scene_monitor from file. More...
bool	loadCollisionSceneFromFile (const std::string &path, const Eigen::Affine3d &offset)
bool	loadEEMarker (const robot_model::JointModelGroup *ee_jmg, const std::vector< double > &ee_joint_pos={})
	Call this once at begining to load the end effector markers and then whenever a joint changes. More...
bool	loadPlanningSceneMonitor ()
	Load a planning scene monitor if one was not passed into the constructor. More...
void	loadRobotStatePub (const std::string &robot_state_topic="", bool blocking=true)
bool	loadSharedRobotState ()
	Load robot state only as needed. More...
void	loadTrajectoryPub (const std::string &display_planned_path_topic=DISPLAY_PLANNED_PATH_TOPIC, bool blocking=true)
	Load publishers as needed. More...
bool	moveCollisionObject (const Eigen::Affine3d &pose, const std::string &name, const rviz_visual_tools::colors &color)
	Move an already published collision object to a new locaiton in space. More...
bool	moveCollisionObject (const geometry_msgs::Pose &pose, const std::string &name, const rviz_visual_tools::colors &color)
	MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic, planning_scene_monitor::PlanningSceneMonitorPtr psm)
	Constructor. More...
	MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic=rviz_visual_tools::RVIZ_MARKER_TOPIC, robot_model::RobotModelConstPtr robot_model=robot_model::RobotModelConstPtr())
	Constructor. More...
bool	processAttachedCollisionObjectMsg (const moveit_msgs::AttachedCollisionObject &msg)
	Skip a ROS message call by sending directly to planning scene monitor. More...
bool	processCollisionObjectMsg (const moveit_msgs::CollisionObject &msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Skip a ROS message call by sending directly to planning scene monitor. More...
bool	publishAnimatedGrasp (const moveit_msgs::Grasp &grasp, const robot_model::JointModelGroup *ee_jmg, double animate_speed)
	Animate a single grasp in its movement direction. More...
bool	publishAnimatedGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.01)
	Display an animated vector of grasps including its approach movement in Rviz. More...
bool	publishCollisionBlock (const geometry_msgs::Pose &block_pose, const std::string &block_name="block", double block_size=0.1, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision block at the given pose. More...
bool	publishCollisionCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std::string &name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt collision rectangular cuboid at the given pose. More...
bool	publishCollisionCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std::string &name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionCuboid (const Eigen::Affine3d &pose, double width, double depth, double height, const std::string &name, const rviz_visual_tools::colors &color)
	Create a MoveIt collision rectangular cuboid at the given pose. More...
bool	publishCollisionCuboid (const geometry_msgs::Pose &pose, double width, double depth, double height, const std::string &name, const rviz_visual_tools::colors &color)
bool	publishCollisionCylinder (const geometry_msgs::Point &a, const geometry_msgs::Point &b, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision cylinder between two points. More...
bool	publishCollisionCylinder (const Eigen::Vector3d &a, const Eigen::Vector3d &b, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionCylinder (const Eigen::Affine3d &object_pose, const std::string &object_name, double radius, double height, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision cylinder with a center point pose. More...
bool	publishCollisionCylinder (const geometry_msgs::Pose &object_pose, const std::string &object_name, double radius, double height, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionFloor (double z=0.0, const std::string &plane_name="Floor", const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Make the floor a collision object. More...
bool	publishCollisionGraph (const graph_msgs::GeometryGraph &graph, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a connected birectional graph. More...
bool	publishCollisionMesh (const geometry_msgs::Pose &object_pose, const std::string &object_name, const std::string &mesh_path, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a collision object using a mesh. More...
bool	publishCollisionMesh (const Eigen::Affine3d &object_pose, const std::string &object_name, const std::string &mesh_path, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionMesh (const Eigen::Affine3d &object_pose, const std::string &object_name, const shape_msgs::Mesh &mesh_msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionMesh (const geometry_msgs::Pose &object_pose, const std::string &object_name, const shape_msgs::Mesh &mesh_msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishCollisionTable (double x, double y, double angle, double width, double height, double depth, const std::string name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a typical room table. More...
bool	publishCollisionTable (double x, double y, double z, double angle, double width, double height, double depth, const std::string name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionWall (double x, double y, double angle=0.0, double width=2.0, double height=1.5, const std::string name="wall", const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a typical room wall. More...
bool	publishCollisionWall (double x, double y, double z, double angle=0.0, double width=2.0, double height=1.5, const std::string name="wall", const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishContactPoints (const moveit::core::RobotState &robot_state, const planning_scene::PlanningScene *planning_scene, const rviz_visual_tools::colors &color=rviz_visual_tools::RED)
	Given a planning scene and robot state, publish any collisions. More...
bool	publishEEMarkers (const Eigen::Affine3d &pose, const robot_model::JointModelGroup *ee_jmg, const std::vector< double > &ee_joint_pos, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
	Publish an end effector to rviz. More...
bool	publishEEMarkers (const Eigen::Affine3d &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
bool	publishEEMarkers (const geometry_msgs::Pose &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
bool	publishEEMarkers (const geometry_msgs::Pose &pose, const robot_model::JointModelGroup *ee_jmg, const std::vector< double > &ee_joint_pos, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
bool	publishGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.1)
	Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources. More...
bool	publishIKSolutions (const std::vector< trajectory_msgs::JointTrajectoryPoint > &ik_solutions, const robot_model::JointModelGroup *arm_jmg, double display_time=0.4)
	Display an vector of inverse kinematic solutions for the IK service in Rviz Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz. More...
bool	publishRobotState (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const robot_model::JointModelGroup *jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
	Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show. More...
bool	publishRobotState (const std::vector< double > joint_positions, const robot_model::JointModelGroup *jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
	Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show. More...
bool	publishRobotState (const moveit::core::RobotState &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
	Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above. More...
bool	publishRobotState (const moveit::core::RobotStatePtr &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
bool	publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::LinkModel *ee_parent_link, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
	Display a line of the end effector path from a robot trajectory path. More...
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectoryPtr robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectory &robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
bool	publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
	Display a line of the end effector(s) path(s) from a robot trajectory path This version can visualize multiple end effectors. More...
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectoryPtr robot_trajectory, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectory &robot_trajectory, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)
bool	publishTrajectoryPath (const std::vector< moveit::core::RobotStatePtr > &trajectory, const moveit::core::JointModelGroup *jmg, double speed=0.01, bool blocking=false)
	Animate trajectory in rviz. These functions do not need a trigger() called because use different publisher. More...
bool	publishTrajectoryPath (const robot_trajectory::RobotTrajectoryPtr &trajectory, bool blocking=false)
bool	publishTrajectoryPath (const robot_trajectory::RobotTrajectory &trajectory, bool blocking=false)
bool	publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::RobotStateConstPtr robot_state, bool blocking=false)
bool	publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::RobotState &robot_state, bool blocking=false)
bool	publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit_msgs::RobotState &robot_state, bool blocking=false)
bool	publishTrajectoryPoint (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const std::string &planning_group, double display_time=0.1)
	Move a joint group in MoveIt for visualization make sure you have already set the planning group name this assumes the trajectory_pt position is the size of the number of joints in the planning group This will be displayed in the Planned Path section of the MoveIt Rviz plugin. More...
bool	publishTrajectoryPoints (const std::vector< moveit::core::RobotStatePtr > &robot_state_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color=rviz_visual_tools::YELLOW)
	Display trajectory as series of end effector position points. More...
bool	publishWorkspaceParameters (const moveit_msgs::WorkspaceParameters &params)
	Display size of workspace used for planning with OMPL, etc. Important for virtual joints. More...
bool	removeAllCollisionObjects ()
	Remove all collision objects that this class has added to the MoveIt! planning scene Communicates directly to a planning scene monitor e.g. if this is the move_group node. More...
void	setManualSceneUpdating (bool enable_manual=true)
	Prevent the planning scene from always auto-pushing, but rather do it manually. More...
void	setPlanningSceneMonitor (planning_scene_monitor::PlanningSceneMonitorPtr psm)
	Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc. More...
void	setPlanningSceneTopic (const std::string &planning_scene_topic)
	Set the planning scene topic. More...
void	setRobotStateTopic (const std::string &robot_state_topic)
	Set the ROS topic for publishing a robot state. More...
void	showJointLimits (moveit::core::RobotStatePtr robot_state)
	Print to console the current robot state's joint values within its limits visually. More...
bool	triggerPlanningSceneUpdate ()
	When mannual_trigger_update_ is true, use this to tell the planning scene to send an update out. Do not use otherwise. More...
Public Member Functions inherited from rviz_visual_tools::RvizVisualTools
std_msgs::ColorRGBA	createRandColor () const
bool	deleteAllMarkers ()
void	enableBatchPublishing (bool enable=true)
void	enableFrameLocking (bool enable=true)
const std::string	getBaseFrame () const
Eigen::Vector3d	getCenterPoint (const Eigen::Vector3d &a, const Eigen::Vector3d &b) const
std_msgs::ColorRGBA	getColor (colors color) const
std_msgs::ColorRGBA	getColorScale (double value) const
double	getGlobalScale () const
bool	getPsychedelicMode () const
RemoteControlPtr &	getRemoteControl ()
geometry_msgs::Vector3	getScale (scales scale, double marker_scale=1.0) const
Eigen::Affine3d	getVectorBetweenPoints (const Eigen::Vector3d &a, const Eigen::Vector3d &b) const
void	loadMarkerPub (bool wait_for_subscriber=false, bool latched=false)
void	loadRemoteControl ()
bool	loadRvizMarkers ()
void	prompt (const std::string &msg)
bool	publishArrow (const Eigen::Affine3d &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishArrow (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishArrow (const geometry_msgs::Point &start, const geometry_msgs::Point &end, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0)
bool	publishAxis (const geometry_msgs::Pose &pose, scales scale=MEDIUM, const std::string &ns="Axis")
bool	publishAxis (const Eigen::Affine3d &pose, scales scale=MEDIUM, const std::string &ns="Axis")
bool	publishAxis (const geometry_msgs::Pose &pose, double length, double radius=0.01, const std::string &ns="Axis")
bool	publishAxis (const Eigen::Affine3d &pose, double length, double radius=0.01, const std::string &ns="Axis")
bool	publishAxisLabeled (const Eigen::Affine3d &pose, const std::string &label, scales scale=MEDIUM, colors color=WHITE)
bool	publishAxisLabeled (const geometry_msgs::Pose &pose, const std::string &label, scales scale=MEDIUM, colors color=WHITE)
bool	publishAxisPath (const EigenSTL::vector_Affine3d &path, scales scale=MEDIUM, const std::string &ns="Axis Path")
bool	publishAxisPath (const EigenSTL::vector_Affine3d &path, double length=0.1, double radius=0.01, const std::string &ns="Axis Path")
bool	publishCone (const Eigen::Affine3d &pose, double angle, colors color=TRANSLUCENT, double scale=1.0)
bool	publishCone (const geometry_msgs::Pose &pose, double angle, colors color=TRANSLUCENT, double scale=1.0)
bool	publishCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE)
bool	publishCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, colors color=BLUE, const std::string &ns="Cuboid", std::size_t id=0)
bool	publishCuboid (const geometry_msgs::Pose &pose, double depth, double width, double height, colors color=BLUE)
bool	publishCuboid (const Eigen::Affine3d &pose, double depth, double width, double height, colors color=BLUE)
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Affine3d &pose, colors color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const geometry_msgs::Pose &pose, colors color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishGraph (const graph_msgs::GeometryGraph &graph, colors color, double radius)
bool	publishLine (const Eigen::Affine3d &point1, const Eigen::Affine3d &point2, colors color=BLUE, scales scale=MEDIUM)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE, scales scale=MEDIUM)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color, double radius)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, colors color=BLUE, scales scale=MEDIUM)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 &scale)
bool	publishLines (const EigenSTL::vector_Vector3d &aPoints, const EigenSTL::vector_Vector3d &bPoints, const std::vector< colors > &colors, scales scale=MEDIUM)
bool	publishLines (const std::vector< geometry_msgs::Point > &aPoints, const std::vector< geometry_msgs::Point > &bPoints, const std::vector< std_msgs::ColorRGBA > &colors, const geometry_msgs::Vector3 &scale)
bool	publishLineStrip (const std::vector< geometry_msgs::Point > &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
bool	publishMarker (visualization_msgs::Marker &marker)
bool	publishMarkers (visualization_msgs::MarkerArray &markers)
bool	publishMesh (const Eigen::Affine3d &pose, const std::string &file_name, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0)
bool	publishMesh (const geometry_msgs::Pose &pose, const std::string &file_name, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0)
bool	publishPath (const EigenSTL::vector_Affine3d &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, const std::vector< colors > &colors, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, const std::vector< std_msgs::ColorRGBA > &colors, double radius, const std::string &ns="Path")
bool	publishPath (const std::vector< geometry_msgs::Pose > &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
bool	publishPath (const std::vector< geometry_msgs::Point > &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Affine3d &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
bool	publishPath (const std::vector< geometry_msgs::Point > &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPolygon (const geometry_msgs::Polygon &polygon, colors color=RED, scales scale=MEDIUM, const std::string &ns="Polygon")
bool	publishSphere (const Eigen::Affine3d &pose, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Vector3d &point, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Vector3d &point, colors color, double scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color, double scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Affine3d &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Vector3d &point, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::PoseStamped &pose, colors color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Point &point, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, colors color, double scale=0.1, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color=BLUE, double scale=0.1, const std::string &ns="Spheres")
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, const std::vector< colors > &colors, scales scale=MEDIUM, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const std::vector< std_msgs::ColorRGBA > &colors, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Spheres")
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, colors color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishText (const Eigen::Affine3d &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)
bool	publishText (const Eigen::Affine3d &pose, const std::string &text, colors color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)
bool	publishWireframeCuboid (const Eigen::Affine3d &pose, double depth, double width, double height, colors color=BLUE, const std::string &ns="Wireframe Cuboid", std::size_t id=0)
bool	publishWireframeCuboid (const Eigen::Affine3d &pose, const Eigen::Vector3d &min_point, const Eigen::Vector3d &max_point, colors color=BLUE, const std::string &ns="Wireframe Cuboid", std::size_t id=0)
bool	publishWireframeRectangle (const Eigen::Affine3d &pose, const Eigen::Vector3d &p1_in, const Eigen::Vector3d &p2_in, const Eigen::Vector3d &p3_in, const Eigen::Vector3d &p4_in, colors color, scales scale)
bool	publishWireframeRectangle (const Eigen::Affine3d &pose, double height, double width, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0)
bool	publishXArrow (const Eigen::Affine3d &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
bool	publishXArrow (const geometry_msgs::Pose &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
bool	publishXArrow (const geometry_msgs::PoseStamped &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
bool	publishXYPlane (const Eigen::Affine3d &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishXYPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishXZPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishXZPlane (const Eigen::Affine3d &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishYArrow (const geometry_msgs::Pose &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
bool	publishYArrow (const geometry_msgs::PoseStamped &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
bool	publishYArrow (const Eigen::Affine3d &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
bool	publishYZPlane (const Eigen::Affine3d &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishYZPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishZArrow (const Eigen::Affine3d &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishZArrow (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0)
void	resetMarkerCounts ()
	RvizVisualTools (std::string base_frame, std::string marker_topic=RVIZ_MARKER_TOPIC, ros::NodeHandle nh=ros::NodeHandle("~"))
void	setAlpha (double alpha)
void	setBaseFrame (const std::string &base_frame)
void	setGlobalScale (double global_scale)
void	setLifetime (double lifetime)
void	setMarkerTopic (const std::string &topic)
void	setPsychedelicMode (bool psychedelic_mode=true)
bool	trigger ()
RVIZ_VISUAL_TOOLS_DEPRECATED bool	triggerAndDisable ()
RVIZ_VISUAL_TOOLS_DEPRECATED bool	triggerBatchPublish ()
bool	triggerEvery (std::size_t queueSize)
void	waitForMarkerPub ()
void	waitForMarkerPub (double wait_time)
bool	waitForSubscriber (const ros::Publisher &pub, double wait_time=0.5, bool blocking=false)
	~RvizVisualTools ()

Static Public Member Functions
static bool	applyVirtualJointTransform (moveit::core::RobotState &robot_state, const Eigen::Affine3d &offset)
	Before publishing a robot state, optionally change its root transform. More...
Static Public Member Functions inherited from rviz_visual_tools::RvizVisualTools
static RVIZ_VISUAL_TOOLS_DEPRECATED Eigen::Affine3d	convertFromXYZRPY (double x, double y, double z, double roll, double pitch, double yaw)
static RVIZ_VISUAL_TOOLS_DEPRECATED Eigen::Affine3d	convertFromXYZRPY (const std::vector< double > &transform6)
static Eigen::Affine3d	convertFromXYZRPY (const std::vector< double > &transform6, EulerConvention convention)
static Eigen::Affine3d	convertFromXYZRPY (double tx, double ty, double tz, double rx, double ry, double rz, EulerConvention convention)
static Eigen::Vector3d	convertPoint (const geometry_msgs::Point &point)
static geometry_msgs::Point	convertPoint (const geometry_msgs::Vector3 &point)
static geometry_msgs::Point	convertPoint (const Eigen::Vector3d &point)
static Eigen::Vector3d	convertPoint32 (const geometry_msgs::Point32 &point)
static geometry_msgs::Point32	convertPoint32 (const Eigen::Vector3d &point)
static Eigen::Affine3d	convertPoint32ToPose (const geometry_msgs::Point32 &point)
static geometry_msgs::Pose	convertPointToPose (const geometry_msgs::Point &point)
static Eigen::Affine3d	convertPointToPose (const Eigen::Vector3d &point)
static geometry_msgs::Pose	convertPose (const Eigen::Affine3d &pose)
static Eigen::Affine3d	convertPose (const geometry_msgs::Pose &pose)
static void	convertPoseSafe (const geometry_msgs::Pose &pose_msg, Eigen::Affine3d &pose)
static void	convertPoseSafe (const Eigen::Affine3d &pose, geometry_msgs::Pose &pose_msg)
static geometry_msgs::Point	convertPoseToPoint (const Eigen::Affine3d &pose)
static void	convertToXYZRPY (const Eigen::Affine3d &pose, std::vector< double > &xyzrpy)
static void	convertToXYZRPY (const Eigen::Affine3d &pose, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
static double	dRand (double min, double max)
static float	fRand (float min, float max)
static void	generateEmptyPose (geometry_msgs::Pose &pose)
static void	generateRandomCuboid (geometry_msgs::Pose &cuboid_pose, double &depth, double &width, double &height, RandomPoseBounds pose_bounds=RandomPoseBounds(), RandomCuboidBounds cuboid_bounds=RandomCuboidBounds())
static void	generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
static void	generateRandomPose (Eigen::Affine3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
static colors	getRandColor ()
static colors	intToRvizColor (std::size_t color)
static rviz_visual_tools::scales	intToRvizScale (std::size_t scale)
static int	iRand (int min, int max)
static bool	posesEqual (const Eigen::Affine3d &pose1, const Eigen::Affine3d &pose2, double threshold=0.000001)
static void	printTransform (const Eigen::Affine3d &transform)
static void	printTransformFull (const Eigen::Affine3d &transform)
static void	printTransformRPY (const Eigen::Affine3d &transform)
static void	printTranslation (const Eigen::Vector3d &translation)
static std::string	scaleToString (scales scale)
static double	slerp (double start, double end, double range, double value)

Protected Attributes
std::map< rviz_visual_tools::colors, moveit_msgs::DisplayRobotState >	display_robot_msgs_
std::map< const robot_model::JointModelGroup *, std::vector< double > >	ee_joint_pos_map_
std::map< const robot_model::JointModelGroup *, visualization_msgs::MarkerArray >	ee_markers_map_
std::map< const robot_model::JointModelGroup *, EigenSTL::vector_Affine3d >	ee_poses_map_
moveit::core::RobotStatePtr	hidden_robot_state_
bool	mannual_trigger_update_ = false
std::string	planning_scene_topic_
planning_scene_monitor::PlanningSceneMonitorPtr	psm_
ros::Publisher	pub_display_path_
ros::Publisher	pub_robot_state_
robot_model_loader::RobotModelLoaderPtr	rm_loader_
moveit::core::RobotModelConstPtr	robot_model_
Eigen::Affine3d	robot_state_root_offset_
bool	robot_state_root_offset_enabled_ = false
std::string	robot_state_topic_
moveit::core::RobotStatePtr	root_robot_state_
moveit::core::RobotStatePtr	shared_robot_state_
Protected Attributes inherited from rviz_visual_tools::RvizVisualTools
double	alpha_
visualization_msgs::Marker	arrow_marker_
std::string	base_frame_
bool	batch_publishing_enabled_
visualization_msgs::Marker	block_marker_
visualization_msgs::Marker	cuboid_marker_
visualization_msgs::Marker	cylinder_marker_
bool	frame_locking_enabled_
double	global_scale_
visualization_msgs::Marker	line_list_marker_
visualization_msgs::Marker	line_strip_marker_
ros::Duration	marker_lifetime_
std::string	marker_topic_
visualization_msgs::MarkerArray	markers_
visualization_msgs::Marker	mesh_marker_
ros::NodeHandle	nh_
bool	psychedelic_mode_
ros::Publisher	pub_rviz_markers_
bool	pub_rviz_markers_connected_
bool	pub_rviz_markers_waited_
RemoteControlPtr	remote_control_
visualization_msgs::Marker	reset_marker_
visualization_msgs::Marker	sphere_marker_
visualization_msgs::Marker	spheres_marker_
visualization_msgs::Marker	text_marker_
visualization_msgs::Marker	triangle_marker_

Static Private Member Functions
static bool	checkForVirtualJoint (const moveit::core::RobotState &robot_state)
	Error check that the robot's SRDF was properly setup with a virtual joint that was named a certain way. More...

Additional Inherited Members
Static Protected Attributes inherited from rviz_visual_tools::RvizVisualTools
static const std::array< colors, 14 >	all_rand_colors_
static const std::string	name_

Detailed Description

Definition at line 74 of file moveit_visual_tools.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters

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

Definition at line 67 of file moveit_visual_tools.cpp.

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic = rviz_visual_tools::RVIZ_MARKER_TOPIC,
		robot_model::RobotModelConstPtr	robot_model = robot_model::RobotModelConstPtr()
	)

Constructor.

Parameters

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

Definition at line 76 of file moveit_visual_tools.cpp.

Member Function Documentation

bool moveit_visual_tools::MoveItVisualTools::applyVirtualJointTransform ( moveit::core::RobotState &  robot_state, const Eigen::Affine3d &  offset  )

static

Before publishing a robot state, optionally change its root transform.

Definition at line 1576 of file moveit_visual_tools.cpp.

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

Attach a collision object from the planning scene.

Parameters

Name	of object

Definition at line 608 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::checkForVirtualJoint ( const moveit::core::RobotState &  robot_state )

staticprivate

Error check that the robot's SRDF was properly setup with a virtual joint that was named a certain way.

Returns

true on success

Definition at line 1544 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupACO

(

const std::string &

name

)

Remove an active collision object from the planning scene.

Parameters

Name

of object

Returns

true on sucess

Definition at line 595 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupCO

(

const std::string &

name

)

Remove a collision object from the planning scene.

Parameters

Name

of object

Returns

true on sucess

Definition at line 583 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::disableRobotStateRootOffet

(

)

Turn off the root offset feature.

Definition at line 1368 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::enableRobotStateRootOffet

(

const Eigen::Affine3d &

offset

)

All published robot states will have their virtual joint moved by offset.

Definition at line 1362 of file moveit_visual_tools.cpp.

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

Helper for publishCollisionWall.

Definition at line 925 of file moveit_visual_tools.cpp.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::MoveItVisualTools::getPlanningSceneMonitor

(

)

Get the planning scene monitor that this class is using.

Returns

a ptr to a planning scene

---

Private Functions

Definition at line 1532 of file moveit_visual_tools.cpp.

moveit::core::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::getRobotModel

(

)

Get a pointer to the robot model.

Returns

const RobotModel

Definition at line 231 of file moveit_visual_tools.cpp.

moveit::core::RobotStatePtr& moveit_visual_tools::MoveItVisualTools::getRootRobotState ( )

inline

Allow robot state to be altered.

Returns

shared pointer to robot state

Definition at line 170 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr & moveit_visual_tools::MoveItVisualTools::getSharedRobotState

(

)

Allow robot state to be altered.

Returns

shared pointer to robot state

Definition at line 224 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::hideRobot

(

)

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

Returns

true on success

Definition at line 1457 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile

(

const std::string &

path

)

Load a planning scene to a planning_scene_monitor from file.

Parameters

path	- path to planning scene, e.g. as exported from Rviz Plugin
offset	for scene to be placed

Returns

true on success

Definition at line 1018 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile	(	const std::string &	path,
		const Eigen::Affine3d &	offset
	)

Definition at line 1023 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadEEMarker	(	const robot_model::JointModelGroup *	ee_jmg,
		const std::vector< double > &	ee_joint_pos = {}
	)

Call this once at begining to load the end effector markers and then whenever a joint changes.

Parameters

ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_gripper"
ee_joint_pos	- the values of all active joints in this planning group

Returns

true if it is successful

Definition at line 238 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadPlanningSceneMonitor

(

)

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

Returns

true if successful in loading

Definition at line 82 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadRobotStatePub	(	const std::string &	robot_state_topic = "",
		bool	blocking = true
	)

Definition at line 338 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadSharedRobotState

(

)

Load robot state only as needed.

Returns

true if successful in loading

Definition at line 196 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadTrajectoryPub	(	const std::string &	display_planned_path_topic = DISPLAY_PLANNED_PATH_TOPIC,
		bool	blocking = true
	)

Load publishers as needed.

Definition at line 324 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::moveCollisionObject	(	const Eigen::Affine3d &	pose,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

Move an already published collision object to a new locaiton in space.

Parameters

pose	- location of center of object
name	- semantic name of MoveIt collision object

Returns

true on success

Definition at line 163 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::moveCollisionObject	(	const geometry_msgs::Pose &	pose,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

Definition at line 169 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::processAttachedCollisionObjectMsg

(

const moveit_msgs::AttachedCollisionObject &

msg

)

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

Parameters

attached

collision object message

Returns

true on success

Definition at line 145 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::processCollisionObjectMsg	(	const moveit_msgs::CollisionObject &	msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

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

Parameters

collision	object message
color	to display the collision object with

Returns

true on success

Definition at line 126 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishAnimatedGrasp	(	const moveit_msgs::Grasp &	grasp,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed
	)

Animate a single grasp in its movement direction.

Parameters

grasp
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated

Returns

true on sucess

Definition at line 447 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishAnimatedGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed = 0.01
	)

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

Parameters

possible_grasps	- a set of grasp positions to visualize
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated, optional

Definition at line 428 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionBlock	(	const geometry_msgs::Pose &	block_pose,
		const std::string &	block_name = "block",
		double	block_size = 0.1,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision block at the given pose.

Parameters

pose	- location of center of block
name	- semantic name of MoveIt collision object
size	- height=width=depth=size
color	to display the collision object with

Returns

true on sucess

Definition at line 624 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt collision rectangular cuboid at the given pose.

Parameters

point1	- top left of rectangle
point2	- bottom right of rectangle
name	- semantic name of MoveIt collision object
color	to display the collision object with

Returns

true on sucess

Definition at line 648 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 654 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const Eigen::Affine3d &	pose,
		double	width,
		double	depth,
		double	height,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

Create a MoveIt collision rectangular cuboid at the given pose.

Parameters

pose	- position of the centroid of the cube
width	- width of the object in its local frame
depth	- depth of the object in its local frame
height	- height of the object in its local frame
name	- semantic name of MoveIt collision object
color	to display the collision object with

Returns

true on sucess

Definition at line 690 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const geometry_msgs::Pose &	pose,
		double	width,
		double	depth,
		double	height,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

Definition at line 698 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const geometry_msgs::Point &	a,
		const geometry_msgs::Point &	b,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision cylinder between two points.

Parameters

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point
name	- semantic name of MoveIt collision object
radius	- size of cylinder
color	to display the collision object with

Returns

true on sucess

Definition at line 750 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 757 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		double	radius,
		double	height,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision cylinder with a center point pose.

Parameters

pose	- vector pointing along axis of cylinder
name	- semantic name of MoveIt collision object
radius	- size of cylinder
height	- size of cylinder
color	to display the collision object with

Returns

true on sucess

Definition at line 779 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		double	radius,
		double	height,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 785 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionFloor	(	double	z = 0.0,
		const std::string &	plane_name = "Floor",
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Make the floor a collision object.

Parameters

z	location of floor
name	of floor
color	to display the collision object with

Returns

true on success

Definition at line 732 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionGraph	(	const graph_msgs::GeometryGraph &	graph,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Publish a connected birectional graph.

Parameters

graph	of nodes and edges
name	of collision object
color	to display the collision object with

Returns

true on sucess

Definition at line 853 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		const std::string &	mesh_path,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a collision object using a mesh.

Parameters

pose	- location of center of mesh
name	- semantic name of MoveIt collision object
peth	- file location to an .stl file
color	to display the collision object with

Returns

true on success

Definition at line 812 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		const std::string &	mesh_path,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 806 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		const shape_msgs::Mesh &	mesh_msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 830 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		const shape_msgs::Mesh &	mesh_msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 836 of file moveit_visual_tools.cpp.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishCollisionTable ( double  x, double  y, double  angle, double  width, double  height, double  depth, const std::string  name, const rviz_visual_tools::colors &  color = rviz_visual_tools::GREEN  )

inline

Publish a typical room table.

Parameters

x
y
angle
width
height
depth
name
color	to display the collision object with

Returns

true on sucess

Definition at line 463 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionTable	(	double	x,
		double	y,
		double	z,
		double	angle,
		double	width,
		double	height,
		double	depth,
		const std::string	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 980 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionWall	(	double	x,
		double	y,
		double	angle = 0.0,
		double	width = 2.0,
		double	height = 1.5,
		const std::string	name = "wall",
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Publish a typical room wall.

Parameters

x
y
angle
width
height
name
color	to display the collision object with

Returns

true on sucess

Definition at line 965 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionWall	(	double	x,
		double	y,
		double	z,
		double	angle = 0.0,
		double	width = 2.0,
		double	height = 1.5,
		const std::string	name = "wall",
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 971 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishContactPoints	(	const moveit::core::RobotState &	robot_state,
		const planning_scene::PlanningScene *	planning_scene,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::RED
	)

Given a planning scene and robot state, publish any collisions.

Parameters

robot_state
planning_scene
color	- display color of markers

Returns

true on success

Definition at line 1058 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers ( const Eigen::Affine3d &  pose, const robot_model::JointModelGroup *  ee_jmg, const std::vector< double > &  ee_joint_pos, const rviz_visual_tools::colors &  color = rviz_visual_tools::CLEAR, const std::string &  ns = "end_effector"  )

inline

Publish an end effector to rviz.

Parameters

pose	- the location to publish the marker with respect to the base frame
ee_jmg	- joint model group of the end effector, e.g. "left_hand"
ee_joint_pos	- position of all active joints in the end effector
color	to display the collision object with

Returns

true on success

Definition at line 222 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers ( const Eigen::Affine3d &  pose, const robot_model::JointModelGroup *  ee_jmg, const rviz_visual_tools::colors &  color = rviz_visual_tools::CLEAR, const std::string &  ns = "end_effector"  )

inline

Definition at line 229 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers ( const geometry_msgs::Pose &  pose, const robot_model::JointModelGroup *  ee_jmg, const rviz_visual_tools::colors &  color = rviz_visual_tools::CLEAR, const std::string &  ns = "end_effector"  )

inline

Definition at line 235 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers	(	const geometry_msgs::Pose &	pose,
		const robot_model::JointModelGroup *	ee_jmg,
		const std::vector< double > &	ee_joint_pos,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::CLEAR,
		const std::string &	ns = "end_effector"
	)

Definition at line 356 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed = 0.1
	)

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

Parameters

possible_grasps	- a set of grasp positions to visualize
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated, optional

Definition at line 408 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishIKSolutions	(	const std::vector< trajectory_msgs::JointTrajectoryPoint > &	ik_solutions,
		const robot_model::JointModelGroup *	arm_jmg,
		double	display_time = 0.4
	)

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

Parameters

ik_solutions	- a set of corresponding arm positions to achieve each grasp
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
display_time	- amount of time to sleep between sending trajectories, optional

Definition at line 530 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const robot_model::JointModelGroup *	jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

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

Parameters

trajectory_pt	of joint positions
jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF

Returns

true on success

Definition at line 1373 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const std::vector< double >	joint_positions,
		const robot_model::JointModelGroup *	jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

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

Parameters

joint_positions	- a vector of doubles corresponding 1-to-1 to the kinematic chain named in "jmg"
jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF

Returns

true on success

Definition at line 1380 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotState &	robot_state,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

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

Parameters

robot_state	- joint values of robot
color	- how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotStatePtr &	robot_state,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::LinkModel *	ee_parent_link,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Display a line of the end effector path from a robot trajectory path.

Parameters

trajectory_msg	- the robot plan
ee_parent_link	- the link that we should trace a path of, e.g. the gripper link
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- display color of markers

Returns

true on success

Definition at line 1233 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectoryPtr	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Definition at line 1256 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectory &	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Definition at line 1263 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Display a line of the end effector(s) path(s) from a robot trajectory path This version can visualize multiple end effectors.

Parameters

trajectory_msg	- the robot plan
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm".
color	- display color of markers

Returns

true on success

Definition at line 1299 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectoryPtr	robot_trajectory,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Definition at line 1320 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectory &	robot_trajectory,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::LIME_GREEN
	)

Definition at line 1327 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const std::vector< moveit::core::RobotStatePtr > &	trajectory,
		const moveit::core::JointModelGroup *	jmg,
		double	speed = 0.01,
		bool	blocking = false
	)

Animate trajectory in rviz. These functions do not need a trigger() called because use different publisher.

Parameters

trajectory	the actual plan
blocking	whether we need to wait for the animation to complete
robot_state	- the base state to add the joint trajectory message to
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"

Returns

true on success

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const robot_trajectory::RobotTrajectoryPtr &	trajectory,
		bool	blocking = false
	)

Definition at line 1146 of file moveit_visual_tools.cpp.

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

Definition at line 1151 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::RobotStateConstPtr	robot_state,
		bool	blocking = false
	)

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::RobotState &	robot_state,
		bool	blocking = false
	)

Definition at line 1177 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit_msgs::RobotState &	robot_state,
		bool	blocking = false
	)

Definition at line 1186 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPoint	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const std::string &	planning_group,
		double	display_time = 0.1
	)

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

Parameters

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

Returns

true on success

Definition at line 1099 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPoints	(	const std::vector< moveit::core::RobotStatePtr > &	robot_state_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::YELLOW
	)

Display trajectory as series of end effector position points.

Parameters

trajectory	the actual plan
color	- display color of markers

Returns

true on success

Definition at line 1348 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishWorkspaceParameters

(

const moveit_msgs::WorkspaceParameters &

params

)

Display size of workspace used for planning with OMPL, etc. Important for virtual joints.

Parameters

display

bounds of workspace

Returns

true on sucess

Definition at line 1052 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::removeAllCollisionObjects

(

)

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

Parameters

the	scene to directly clear the collision objects from

Returns

true on sucess

Definition at line 572 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::setManualSceneUpdating ( bool  enable_manual = true )

inline

Prevent the planning scene from always auto-pushing, but rather do it manually.

Parameters

bool	true to enable manual mode

Definition at line 209 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setPlanningSceneMonitor ( planning_scene_monitor::PlanningSceneMonitorPtr  psm )

inline

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

Parameters

a	pointer to a load planning scen

Definition at line 200 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setPlanningSceneTopic ( const std::string &  planning_scene_topic )

inline

Set the planning scene topic.

Parameters

topic

Definition at line 110 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setRobotStateTopic ( const std::string &  robot_state_topic )

inline

Set the ROS topic for publishing a robot state.

Parameters

topic

Definition at line 101 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::showJointLimits

(

moveit::core::RobotStatePtr

robot_state

)

Print to console the current robot state's joint values within its limits visually.

Parameters

robot_state

- the robot to show

Definition at line 1475 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::triggerPlanningSceneUpdate

(

)

When mannual_trigger_update_ is true, use this to tell the planning scene to send an update out. Do not use otherwise.

Definition at line 186 of file moveit_visual_tools.cpp.

Member Data Documentation

std::map<rviz_visual_tools::colors, moveit_msgs::DisplayRobotState> moveit_visual_tools::MoveItVisualTools::display_robot_msgs_

protected

Definition at line 669 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup*, std::vector<double> > moveit_visual_tools::MoveItVisualTools::ee_joint_pos_map_

protected

Definition at line 664 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup*, visualization_msgs::MarkerArray> moveit_visual_tools::MoveItVisualTools::ee_markers_map_

protected

Definition at line 662 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup*, EigenSTL::vector_Affine3d> moveit_visual_tools::MoveItVisualTools::ee_poses_map_

protected

Definition at line 663 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::hidden_robot_state_

protected

Definition at line 678 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::mannual_trigger_update_ = false

protected

Definition at line 649 of file moveit_visual_tools.h.

std::string moveit_visual_tools::MoveItVisualTools::planning_scene_topic_

protected

Definition at line 653 of file moveit_visual_tools.h.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::MoveItVisualTools::psm_

protected

Definition at line 646 of file moveit_visual_tools.h.

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_display_path_

protected

Definition at line 656 of file moveit_visual_tools.h.

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_robot_state_

protected

Definition at line 657 of file moveit_visual_tools.h.

robot_model_loader::RobotModelLoaderPtr moveit_visual_tools::MoveItVisualTools::rm_loader_

protected

Definition at line 659 of file moveit_visual_tools.h.

moveit::core::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::robot_model_

protected

Definition at line 672 of file moveit_visual_tools.h.

Eigen::Affine3d moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_

protected

Definition at line 686 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_enabled_ = false

protected

Definition at line 685 of file moveit_visual_tools.h.

std::string moveit_visual_tools::MoveItVisualTools::robot_state_topic_

protected

Definition at line 652 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::root_robot_state_

protected

Definition at line 682 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::shared_robot_state_

protected

Definition at line 675 of file moveit_visual_tools.h.

---

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

• moveit_visual_tools.h
• moveit_visual_tools.cpp