Simple interface to MoveIt components. More...

Classes
class	MoveGroupInterface
	Client class to conveniently use the ROS interfaces provided by the move_group node. More...

class	PlanningSceneInterface

Typedefs
typedef moveit_cpp::MoveItCpp	MoveItCpp

using	MoveItErrorCode = moveit::core::MoveItErrorCode

typedef moveit_cpp::PlanningComponent	PlanningComponent

Functions
moveit::core::RobotModelConstPtr	getSharedRobotModel (const std::string &robot_description)

planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer)
	getSharedStateMonitor is a simpler version of getSharedStateMonitor(const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle More...

planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const ros::NodeHandle &nh)
	getSharedStateMonitor More...

std::shared_ptr< tf2_ros::Buffer >	getSharedTF ()

	MOVEIT_CLASS_FORWARD (MoveGroupInterface)

	MOVEIT_CLASS_FORWARD (PlanningSceneInterface)

	MOVEIT_DECLARE_PTR (MoveItCpp, moveit_cpp::MoveItCpp)

	MOVEIT_DECLARE_PTR (PlanningComponent, moveit_cpp::PlanningComponent)

Variables
const std::string	GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

const std::string	LOGNAME = "move_group_interface"

Detailed Description

Simple interface to MoveIt components.

Typedef Documentation

◆ MoveItErrorCode

using moveit::planning_interface::MoveItErrorCode = typedef moveit::core::MoveItErrorCode

Definition at line 130 of file move_group_interface.h.

Function Documentation

◆ getSharedRobotModel()

moveit::core::RobotModelConstPtr moveit::planning_interface::getSharedRobotModel ( const std::string & robot_description )

Definition at line 116 of file common_objects.cpp.

◆ getSharedStateMonitor() [1/2]

CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer
	)

getSharedStateMonitor is a simpler version of getSharedStateMonitor(const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle

Parameters

robot_model
tf_buffer

Returns

Definition at line 134 of file common_objects.cpp.

◆ getSharedStateMonitor() [2/2]

CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer,
		const ros::NodeHandle &	nh
	)

getSharedStateMonitor

Parameters

robot_model
tf_buffer
nh	A ros::NodeHandle to pass node specific configurations, such as callbacks queues.

Returns

Definition at line 140 of file common_objects.cpp.

◆ getSharedTF()

std::shared_ptr< tf2_ros::Buffer > moveit::planning_interface::getSharedTF ( )

Definition at line 99 of file common_objects.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/2]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( MoveGroupInterface )

◆ MOVEIT_CLASS_FORWARD() [2/2]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( PlanningSceneInterface )

Variable Documentation

◆ GRASP_PLANNING_SERVICE_NAME

const std::string moveit::planning_interface::GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

Definition at line 146 of file move_group_interface.cpp.

◆ LOGNAME

static const std::string moveit::planning_interface::LOGNAME = "move_group_interface"

Definition at line 148 of file move_group_interface.cpp.

Classes

Typedefs

Functions

Variables