PlanningSceneMonitor Subscribes to the topic planning_scene. More...
#include <planning_scene_monitor.h>
Classes | |
class | DynamicReconfigureImpl |
Public Types | |
enum | SceneUpdateType { UPDATE_NONE = 0, UPDATE_STATE = 1, UPDATE_TRANSFORMS = 2, UPDATE_GEOMETRY = 4, UPDATE_SCENE = 8 + UPDATE_STATE + UPDATE_TRANSFORMS + UPDATE_GEOMETRY } |
Public Member Functions | |
void | addUpdateCallback (const boost::function< void(SceneUpdateType)> &fn) |
Add a function to be called when an update to the scene is received. More... | |
void | clearOctomap () |
void | clearUpdateCallbacks () |
Clear the functions to be called when an update to the scene is received. More... | |
double | getDefaultAttachedObjectPadding () const |
Get the default attached padding. More... | |
double | getDefaultObjectPadding () const |
Get the default object padding. More... | |
double | getDefaultRobotPadding () const |
Get the default robot padding. More... | |
double | getDefaultRobotScale () const |
Get the default robot scaling. More... | |
const ros::Time & | getLastUpdateTime () const |
Return the time when the last update was made to the planning scene (by any monitor) More... | |
void | getMonitoredTopics (std::vector< std::string > &topics) const |
Get the topic names that the monitor is listening to. More... | |
const std::string & | getName () const |
Get the name of this monitor. More... | |
const planning_scene::PlanningScenePtr & | getPlanningScene () |
Avoid this function! Returns an unsafe pointer to the current planning scene. More... | |
const planning_scene::PlanningSceneConstPtr & | getPlanningScene () const |
Avoid this function! Returns an unsafe pointer to the current planning scene. More... | |
double | getPlanningScenePublishingFrequency () const |
Get the maximum frequency at which planning scenes are published (Hz) More... | |
const std::string & | getRobotDescription () const |
Get the stored robot description. More... | |
const robot_model::RobotModelConstPtr & | getRobotModel () const |
const robot_model_loader::RobotModelLoaderPtr & | getRobotModelLoader () const |
Get the user kinematic model loader. More... | |
const CurrentStateMonitorPtr & | getStateMonitor () const |
Get the stored instance of the stored current state monitor. More... | |
CurrentStateMonitorPtr & | getStateMonitorNonConst () |
double | getStateUpdateFrequency () const |
Get the maximum frequency (Hz) at which the current state of the planning scene is updated. More... | |
const std::shared_ptr< tf2_ros::Buffer > & | 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 std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const robot_model_loader::RobotModelLoaderPtr &rml, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const std::string &robot_description, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const std::string &name="") | |
Constructor. More... | |
PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const ros::NodeHandle &nh, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const std::string &name="") | |
Constructor. More... | |
void | providePlanningSceneService (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE) |
Create an optional service for getting the complete planning scene This is useful for satisfying the Rviz PlanningScene display's need for a service without having to use a move_group node. Be careful not to use this in conjunction with requestPlanningSceneState(), as it will create a pointless feedback loop. More... | |
void | publishDebugInformation (bool flag) |
bool | requestPlanningSceneState (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE) |
Request a full planning scene state using a service call Be careful not to use this in conjunction with providePlanningSceneService(), as it will create a pointless feedback loop. 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 (ROS topic-based) 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 the OccupancyMapMonitor and listening for: 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::Isometry3d * > > > | 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 | configureCollisionMatrix (const planning_scene::PlanningScenePtr &scene) |
Configure the collision matrix for a particular scene. More... | |
void | configureDefaultPadding () |
Configure the default padding. More... | |
void | currentStateAttachedBodyUpdateCallback (robot_state::AttachedBody *attached_body, bool just_attached) |
Callback for a change for an attached object of the current state of the planning scene. More... | |
void | currentWorldObjectUpdateCallback (const collision_detection::World::ObjectConstPtr &object, collision_detection::World::Action action) |
Callback for a change in the world maintained by the planning scene. More... | |
void | excludeAttachedBodiesFromOctree () |
void | excludeAttachedBodyFromOctree (const robot_state::AttachedBody *attached_body) |
void | excludeRobotLinksFromOctree () |
void | excludeWorldObjectFromOctree (const collision_detection::World::ObjectConstPtr &obj) |
void | excludeWorldObjectsFromOctree () |
bool | getShapeTransformCache (const std::string &target_frame, const ros::Time &target_time, occupancy_map_monitor::ShapeTransformCache &cache) const |
void | includeAttachedBodiesInOctree () |
void | includeAttachedBodyInOctree (const robot_state::AttachedBody *attached_body) |
void | includeRobotLinksInOctree () |
void | includeWorldObjectInOctree (const collision_detection::World::ObjectConstPtr &obj) |
void | includeWorldObjectsInOctree () |
void | initialize (const planning_scene::PlanningScenePtr &scene) |
Initialize the planning scene monitor. More... | |
void | newPlanningSceneWorldCallback (const moveit_msgs::PlanningSceneWorldConstPtr &world) |
Callback for a new planning scene world. More... | |
void | octomapUpdateCallback () |
Callback for octomap updates. More... | |
Private Member Functions | |
bool | getPlanningSceneServiceCallback (moveit_msgs::GetPlanningScene::Request &req, moveit_msgs::GetPlanningScene::Response &res) |
void | getUpdatedFrameTransforms (std::vector< geometry_msgs::TransformStamped > &transforms) |
void | newPlanningSceneCallback (const moveit_msgs::PlanningSceneConstPtr &scene) |
void | onStateUpdate (const sensor_msgs::JointStateConstPtr &joint_state) |
void | scenePublishingThread () |
void | stateUpdateTimerCallback (const ros::WallTimerEvent &event) |
Private Attributes | |
collision_detection::CollisionPluginLoader | collision_loader_ |
ros::WallDuration | dt_state_update_ |
the amount of time to wait in between updates to the robot state More... | |
ros::WallTime | last_robot_state_update_wall_time_ |
Last time the state was updated from current_state_monitor_. More... | |
DynamicReconfigureImpl * | reconfigure_impl_ |
robot_model_loader::RobotModelLoaderPtr | rm_loader_ |
robot_model::RobotModelConstPtr | robot_model_ |
ros::Duration | shape_transform_cache_lookup_wait_time_ |
the amount of time to wait when looking up transforms More... | |
boost::mutex | state_pending_mutex_ |
volatile bool | state_update_pending_ |
True when we need to update the RobotState from current_state_monitor_. More... | |
ros::WallTimer | state_update_timer_ |
timer for state updates. More... | |
PlanningSceneMonitor Subscribes to the topic planning_scene.
Definition at line 62 of file planning_scene_monitor.h.
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Definition at line 525 of file planning_scene_monitor.h.
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Definition at line 527 of file planning_scene_monitor.h.
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Definition at line 522 of file planning_scene_monitor.h.
Definition at line 65 of file planning_scene_monitor.h.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const std::string & | robot_description, |
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer = std::shared_ptr<tf2_ros::Buffer>() , |
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const std::string & | name = "" |
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Constructor.
robot_description | The name of the ROS parameter that contains the URDF (in string format) |
tf_buffer | A pointer to a tf2_ros::Buffer |
name | A name identifying this planning scene monitor |
Definition at line 116 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const robot_model_loader::RobotModelLoaderPtr & | rml, |
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer = std::shared_ptr<tf2_ros::Buffer>() , |
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const std::string & | name = "" |
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Constructor.
rml | A pointer to a kinematic model loader |
tf_buffer | A pointer to a tf2_ros::Buffer |
name | A name identifying this planning scene monitor |
Definition at line 130 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const planning_scene::PlanningScenePtr & | scene, |
const std::string & | robot_description, | ||
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer = std::shared_ptr<tf2_ros::Buffer>() , |
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const std::string & | name = "" |
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Constructor.
scene | The scene instance to maintain up to date with monitored information |
robot_description | The name of the ROS parameter that contains the URDF (in string format) |
tf_buffer | A pointer to a tf2_ros::Buffer |
name | A name identifying this planning scene monitor |
Definition at line 122 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor | ( | const planning_scene::PlanningScenePtr & | scene, |
const robot_model_loader::RobotModelLoaderPtr & | rml, | ||
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer = std::shared_ptr<tf2_ros::Buffer>() , |
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const std::string & | name = "" |
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Constructor.
scene | The scene instance to maintain up to date with monitored information |
rml | A pointer to a kinematic model loader |
tf_buffer | A pointer to a tf2_ros::Buffer |
name | A name identifying this planning scene monitor |
Definition at line 136 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 std::shared_ptr< tf2_ros::Buffer > & | tf_buffer = std::shared_ptr<tf2_ros::Buffer>() , |
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const std::string & | name = "" |
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Constructor.
scene | The scene instance to maintain up to date with monitored information |
rml | A pointer to a kinematic model loader |
nh | external parent NodeHandle The monitors will use this NodeHandle's CallbackQueue for updates. Usually, this should be a different queue than the global queue, otherwise you might run into timeouts. |
tf_buffer | A pointer to a tf2_ros::Buffer |
name | A name identifying this planning scene monitor |
Definition at line 148 of file planning_scene_monitor.cpp.
planning_scene_monitor::PlanningSceneMonitor::~PlanningSceneMonitor | ( | ) |
Definition at line 159 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::addUpdateCallback | ( | const boost::function< void(SceneUpdateType)> & | fn | ) |
Add a function to be called when an update to the scene is received.
Definition at line 1286 of file planning_scene_monitor.cpp.
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Callback for a new attached object msg.
Definition at line 673 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::clearOctomap | ( | ) |
Definition at line 538 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 1293 of file planning_scene_monitor.cpp.
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Callback for a new collision object msg.
Definition at line 658 of file planning_scene_monitor.cpp.
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Configure the collision matrix for a particular scene.
Definition at line 1359 of file planning_scene_monitor.cpp.
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Configure the default padding.
Definition at line 1402 of file planning_scene_monitor.cpp.
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Callback for a change for an attached object of the current state of the planning scene.
Definition at line 867 of file planning_scene_monitor.cpp.
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Callback for a change in the world maintained by the planning scene.
Definition at line 879 of file planning_scene_monitor.cpp.
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Definition at line 751 of file planning_scene_monitor.cpp.
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Definition at line 788 of file planning_scene_monitor.cpp.
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Definition at line 687 of file planning_scene_monitor.cpp.
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Definition at line 827 of file planning_scene_monitor.cpp.
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Definition at line 778 of file planning_scene_monitor.cpp.
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Get the default attached padding.
Definition at line 244 of file planning_scene_monitor.h.
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Get the default object padding.
Definition at line 238 of file planning_scene_monitor.h.
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Get the default robot padding.
Definition at line 226 of file planning_scene_monitor.h.
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Get the default robot scaling.
Definition at line 232 of file planning_scene_monitor.h.
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Return the time when the last update was made to the planning scene (by any monitor)
Definition at line 380 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 422 of file planning_scene_monitor.cpp.
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Get the name of this monitor.
Definition at line 163 of file planning_scene_monitor.h.
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Avoid this function! Returns an unsafe pointer to the current planning scene.
Definition at line 193 of file planning_scene_monitor.h.
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Avoid this function! Returns an unsafe pointer to the current planning scene.
Definition at line 201 of file planning_scene_monitor.h.
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Get the maximum frequency at which planning scenes are published (Hz)
Definition at line 275 of file planning_scene_monitor.h.
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Definition at line 518 of file planning_scene_monitor.cpp.
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Get the stored robot description.
Definition at line 220 of file planning_scene_monitor.h.
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Definition at line 174 of file planning_scene_monitor.h.
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Get the user kinematic model loader.
Definition at line 169 of file planning_scene_monitor.h.
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Definition at line 1006 of file planning_scene_monitor.cpp.
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Get the stored instance of the stored current state monitor.
Definition at line 282 of file planning_scene_monitor.h.
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Definition at line 287 of file planning_scene_monitor.h.
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Get the maximum frequency (Hz) at which the current state of the planning scene is updated.
Definition at line 321 of file planning_scene_monitor.h.
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Get the instance of the TF client that was passed to the constructor of this class.
Definition at line 250 of file planning_scene_monitor.h.
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List of callbacks to trigger when updates are received
Definition at line 1306 of file planning_scene_monitor.cpp.
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Definition at line 736 of file planning_scene_monitor.cpp.
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Definition at line 810 of file planning_scene_monitor.cpp.
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Definition at line 723 of file planning_scene_monitor.cpp.
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Definition at line 850 of file planning_scene_monitor.cpp.
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Definition at line 763 of file planning_scene_monitor.cpp.
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Initialize the planning scene monitor.
scene | The scene instance to fill with data (an instance is allocated if the one passed in is not allocated) |
Definition at line 181 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 955 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 969 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 261 of file planning_scene_monitor.cpp.
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Definition at line 533 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage | ( | const moveit_msgs::PlanningScene & | scene | ) |
Definition at line 554 of file planning_scene_monitor.cpp.
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Callback for a new planning scene world.
Definition at line 634 of file planning_scene_monitor.cpp.
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Callback for octomap updates.
Definition at line 1211 of file planning_scene_monitor.cpp.
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Definition at line 1155 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::providePlanningSceneService | ( | const std::string & | service_name = DEFAULT_PLANNING_SCENE_SERVICE | ) |
Create an optional service for getting the complete planning scene This is useful for satisfying the Rviz PlanningScene display's need for a service without having to use a move_group node. Be careful not to use this in conjunction with requestPlanningSceneState(), as it will create a pointless feedback loop.
service_name | The topic to provide the service |
Definition at line 511 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::publishDebugInformation | ( | bool | flag | ) |
Definition at line 1353 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::requestPlanningSceneState | ( | const std::string & | service_name = DEFAULT_PLANNING_SCENE_SERVICE | ) |
Request a full planning scene state using a service call Be careful not to use this in conjunction with providePlanningSceneService(), as it will create a pointless feedback loop.
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 473 of file planning_scene_monitor.cpp.
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Definition at line 335 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 1299 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::setStateUpdateFrequency | ( | double | hz | ) |
Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here.
hz | the update frequency. By default this is 10Hz. |
Definition at line 1235 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::startPublishingPlanningScene | ( | SceneUpdateType | event, |
const std::string & | planning_scene_topic = MONITORED_PLANNING_SCENE_TOPIC |
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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 322 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 (ROS topic-based)
scene_topic | The name of the planning scene topic |
Definition at line 983 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 |
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Start the current state monitor.
joint_states_topic | the topic to listen to for joint states |
attached_objects_topic | the topic to listen to for attached collision objects |
Definition at line 1110 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 , |
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const bool | load_octomap_monitor = true |
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Start the OccupancyMapMonitor and listening for:
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 1052 of file planning_scene_monitor.cpp.
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Definition at line 1180 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopPublishingPlanningScene | ( | ) |
Stop publishing the maintained planning scene.
Definition at line 308 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor | ( | ) |
Stop the scene monitor.
Definition at line 997 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor | ( | ) |
Stop the state monitor.
Definition at line 1140 of file planning_scene_monitor.cpp.
void planning_scene_monitor::PlanningSceneMonitor::stopWorldGeometryMonitor | ( | ) |
Stop the world geometry monitor.
Definition at line 1094 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 462 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 962 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 976 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 1335 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 1260 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 457 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 452 of file planning_scene_monitor.cpp.
bool planning_scene_monitor::PlanningSceneMonitor::waitForCurrentRobotState | ( | const ros::Time & | t, |
double | wait_time = 1. |
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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 898 of file planning_scene_monitor.cpp.
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Definition at line 530 of file planning_scene_monitor.h.
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Definition at line 507 of file planning_scene_monitor.h.
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Definition at line 531 of file planning_scene_monitor.h.
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Definition at line 586 of file planning_scene_monitor.h.
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Definition at line 508 of file planning_scene_monitor.h.
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Definition at line 518 of file planning_scene_monitor.h.
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The name of the topic used by default for attached collision objects.
Definition at line 88 of file planning_scene_monitor.h.
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default attached padding
Definition at line 489 of file planning_scene_monitor.h.
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The name of the topic used by default for receiving collision objects in the world.
Definition at line 91 of file planning_scene_monitor.h.
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The name of the topic used by default for receiving joint states.
Definition at line 85 of file planning_scene_monitor.h.
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default object padding
Definition at line 487 of file planning_scene_monitor.h.
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The name of the service used by default for requesting full planning scene state.
Definition at line 101 of file planning_scene_monitor.h.
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The name of the topic used by default for receiving full planning scenes or planning scene diffs.
Definition at line 98 of file planning_scene_monitor.h.
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The name of the topic used by default for receiving geometry information about a planning scene (complete overwrite of world geometry)
Definition at line 95 of file planning_scene_monitor.h.
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default robot link padding
Definition at line 491 of file planning_scene_monitor.h.
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default robot link scale
Definition at line 493 of file planning_scene_monitor.h.
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default robot padding
Definition at line 483 of file planning_scene_monitor.h.
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default robot scaling
Definition at line 485 of file planning_scene_monitor.h.
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the amount of time to wait in between updates to the robot state
Definition at line 567 of file planning_scene_monitor.h.
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Definition at line 512 of file planning_scene_monitor.h.
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Last time the state was updated.
Definition at line 471 of file planning_scene_monitor.h.
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Last time the state was updated from current_state_monitor_.
Definition at line 581 of file planning_scene_monitor.h.
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mutex for stored scene
Definition at line 470 of file planning_scene_monitor.h.
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Definition at line 529 of file planning_scene_monitor.h.
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The name of this scene monitor.
Definition at line 464 of file planning_scene_monitor.h.
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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 105 of file planning_scene_monitor.h.
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Definition at line 500 of file planning_scene_monitor.h.
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Definition at line 501 of file planning_scene_monitor.h.
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Last time the robot has moved.
Definition at line 473 of file planning_scene_monitor.h.
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Definition at line 515 of file planning_scene_monitor.h.
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Definition at line 468 of file planning_scene_monitor.h.
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Definition at line 496 of file planning_scene_monitor.h.
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Definition at line 504 of file planning_scene_monitor.h.
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Definition at line 505 of file planning_scene_monitor.h.
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Definition at line 497 of file planning_scene_monitor.h.
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Definition at line 498 of file planning_scene_monitor.h.
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Definition at line 499 of file planning_scene_monitor.h.
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Definition at line 475 of file planning_scene_monitor.h.
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Definition at line 588 of file planning_scene_monitor.h.
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Definition at line 583 of file planning_scene_monitor.h.
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Definition at line 480 of file planning_scene_monitor.h.
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Definition at line 584 of file planning_scene_monitor.h.
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Definition at line 474 of file planning_scene_monitor.h.
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Definition at line 466 of file planning_scene_monitor.h.
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Definition at line 467 of file planning_scene_monitor.h.
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if diffs are monitored, this is the pointer to the parent scene
Definition at line 469 of file planning_scene_monitor.h.
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Definition at line 532 of file planning_scene_monitor.h.
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the amount of time to wait when looking up transforms
Definition at line 572 of file planning_scene_monitor.h.
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Definition at line 476 of file planning_scene_monitor.h.
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Definition at line 559 of file planning_scene_monitor.h.
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True when we need to update the RobotState from current_state_monitor_.
Definition at line 563 of file planning_scene_monitor.h.
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timer for state updates.
Definition at line 577 of file planning_scene_monitor.h.
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Definition at line 478 of file planning_scene_monitor.h.
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Definition at line 536 of file planning_scene_monitor.h.
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lock access to update_callbacks_
Definition at line 535 of file planning_scene_monitor.h.