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	MoveItCpp

class	MoveItCppTest

class	MoveItErrorCode

class	PlanningComponent

class	PlanningSceneInterface

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 (MoveItCpp)

	MOVEIT_CLASS_FORWARD (PlanningComponent)

	MOVEIT_CLASS_FORWARD (PlanningSceneInterface)

	TEST_F (MoveItCppTest, GetCurrentStateTest)

	TEST_F (MoveItCppTest, NameOfPlanningGroupTest)

	TEST_F (MoveItCppTest, TestSetGoalFromPoseStamped)

	TEST_F (MoveItCppTest, TestSetGoalFromRobotState)

	TEST_F (MoveItCppTest, TestSetStartStateFromRobotState)

	TEST_F (MoveItCppTest, TestSetStartStateToCurrentState)

Variables
const std::string	GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

const std::string	LOGNAME = "move_group_interface"

constexpr char	PLANNING_PLUGIN_PARAM [] = "planning_plugin"

Detailed Description

Simple interface to MoveIt components.

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() [1/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( MoveGroupInterface )

◆ MOVEIT_CLASS_FORWARD() [2/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( MoveItCpp )

◆ MOVEIT_CLASS_FORWARD() [3/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( PlanningComponent )

◆ MOVEIT_CLASS_FORWARD() [4/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( PlanningSceneInterface )

◆ TEST_F() [1/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		GetCurrentStateTest
	)

Definition at line 160 of file moveit_cpp_test.cpp.

◆ TEST_F() [2/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		NameOfPlanningGroupTest
	)

Definition at line 179 of file moveit_cpp_test.cpp.

◆ TEST_F() [3/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetGoalFromPoseStamped
	)

Definition at line 195 of file moveit_cpp_test.cpp.

◆ TEST_F() [4/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetGoalFromRobotState
	)

Definition at line 215 of file moveit_cpp_test.cpp.

◆ TEST_F() [5/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetStartStateFromRobotState
	)

Definition at line 203 of file moveit_cpp_test.cpp.

◆ TEST_F() [6/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetStartStateToCurrentState
	)

Definition at line 185 of file moveit_cpp_test.cpp.

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"

constexpr

Definition at line 148 of file move_group_interface.cpp.

◆ PLANNING_PLUGIN_PARAM

constexpr char moveit::planning_interface::PLANNING_PLUGIN_PARAM[] = "planning_plugin"