#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	checkAndPublishCollision (const moveit::core::RobotState &robot_state, const planning_scene::PlanningScene *planning_scene, const rviz_visual_tools::colors &highlight_link_color=rviz_visual_tools::RED, const rviz_visual_tools::colors &contact_point_color=rviz_visual_tools::PURPLE)
	Check if the robot state is in collision inside the planning scene and visualize the result. If the state is not colliding only the robot state is published. If there is a collision the colliding links are ghlighted and the contact points are visualized with markers. 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::Isometry3d &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 ()
	Hide robot in RobotState display in Rviz. 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::Isometry3d &offset)

bool	loadEEMarker (const moveit::core::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::Isometry3d &pose, const std::string &name, const rviz_visual_tools::colors &color)
	Move an already published collision object to a new location in space. More...

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

	MoveItVisualTools ()
	Constructor. More...

	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, moveit::core::RobotModelConstPtr robot_model=moveit::core::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 moveit::core::JointModelGroup *ee_jmg, double animate_speed)
	Animate a single grasp in its movement direction Note this function calls publish() automatically in order to achieve animations. More...

bool	publishAnimatedGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const moveit::core::JointModelGroup *ee_jmg, double animate_speed=0.01)
	Display an animated vector of grasps including its approach movement in Rviz Note this function calls publish() automatically in order to achieve animations. 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::Isometry3d &pose, const Eigen::Vector3d &size, const std::string &name, const rviz_visual_tools::colors &color)
	Create a MoveIt collision rectangular cuboid at the given pose. More...

bool	publishCollisionCuboid (const Eigen::Isometry3d &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 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 geometry_msgs::Pose &pose, const geometry_msgs::Vector3 &size, const std::string &name, const rviz_visual_tools::colors &color)

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 Eigen::Isometry3d &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 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 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 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 Eigen::Isometry3d &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 Eigen::Isometry3d &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 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)

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	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)
	Publish a typical room table. More...

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 collision_detection::CollisionResult::ContactMap &contacts, const planning_scene::PlanningScene *planning_scene, const rviz_visual_tools::colors &color=rviz_visual_tools::RED)
	Given a contact map and planning scene, publish the contact points. More...

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::Isometry3d &pose, const moveit::core::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT, const std::string &ns="end_effector")

bool	publishEEMarkers (const Eigen::Isometry3d &pose, const moveit::core::JointModelGroup *ee_jmg, const std::vector< double > &ee_joint_pos, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT, const std::string &ns="end_effector")
	Publish an end effector to rviz. More...

bool	publishEEMarkers (const geometry_msgs::Pose &pose, const moveit::core::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT, const std::string &ns="end_effector")

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

bool	publishGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const moveit::core::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 moveit::core::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 moveit::core::RobotState &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT, const std::vector< std::string > &highlight_links={})
	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, const std::vector< std::string > &highlight_links={})

void	publishRobotState (const moveit_msgs::DisplayRobotState &display_robot_state_msg)

bool	publishRobotState (const std::vector< double > &joint_positions, const moveit::core::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 trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const moveit::core::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	publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::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 moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::LinkModel ee_parent_link, const moveit::core::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::RobotTrajectory &robot_trajectory, const moveit::core::JointModelGroup *arm_jmg, 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 robot_trajectory::RobotTrajectoryPtr &robot_trajectory, const moveit::core::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::LIME_GREEN)

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)

void	publishTrajectoryPath (const moveit_msgs::DisplayTrajectory &display_trajectory_msg)

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::core::RobotStateConstPtr &robot_state, bool blocking=false)

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

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

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

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	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 (const 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::Isometry3d	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	publishABCDPlane (const double A, const double B, const double C, const double D, colors color=TRANSLUCENT, double x_width=1.0, double y_width=1.0)

bool	publishArrow (const Eigen::Isometry3d &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	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	publishAxis (const Eigen::Isometry3d &pose, double length, double radius=0.01, const std::string &ns="Axis")

bool	publishAxis (const Eigen::Isometry3d &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 geometry_msgs::Pose &pose, scales scale=MEDIUM, const std::string &ns="Axis")

bool	publishAxisLabeled (const Eigen::Isometry3d &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_Isometry3d &path, double length=0.1, double radius=0.01, const std::string &ns="Axis Path")

bool	publishAxisPath (const EigenSTL::vector_Isometry3d &path, scales scale=MEDIUM, const std::string &ns="Axis Path")

bool	publishCone (const Eigen::Isometry3d &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::Isometry3d &pose, const Eigen::Vector3d &size, colors color=BLUE)

bool	publishCuboid (const Eigen::Isometry3d &pose, double depth, double width, double height, colors color=BLUE)

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, const geometry_msgs::Vector3 &size, colors color=BLUE)

bool	publishCuboid (const geometry_msgs::Pose &pose, double depth, double width, double height, colors color=BLUE)

bool	publishCylinder (const Eigen::Isometry3d &pose, colors color=BLUE, double height=0.1, double radius=0.01, 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, colors color=BLUE, scales scale=MEDIUM, 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 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::Isometry3d &point1, const Eigen::Isometry3d &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, colors color=BLUE, scales scale=MEDIUM)

bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius)

bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)

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, const geometry_msgs::Vector3 &scale)

bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)

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::Isometry3d &pose, const shape_msgs::Mesh &mesh, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0)

bool	publishMesh (const Eigen::Isometry3d &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 shape_msgs::Mesh &mesh, 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_Isometry3d &path, colors color, scales scale, const std::string &ns="Path")

bool	publishPath (const EigenSTL::vector_Isometry3d &path, colors color=RED, double radius=0.01, const std::string &ns="Path")

bool	publishPath (const EigenSTL::vector_Vector3d &path, colors color, scales scale, 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	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::Point > &path, colors color, scales scale, 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 std::vector< geometry_msgs::Pose > &path, colors color=RED, scales scale=MEDIUM, 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::Isometry3d &pose, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)

bool	publishSphere (const Eigen::Isometry3d &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, colors color, double scale, 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, 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	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 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=BLUE, scales scale=MEDIUM, 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::PoseStamped &pose, colors color, const geometry_msgs::Vector3 scale, 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 EigenSTL::vector_Vector3d &points, colors color=BLUE, scales scale=MEDIUM, 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, colors color, const geometry_msgs::Vector3 &scale, 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 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, const std::vector< std_msgs::ColorRGBA > &colors, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")

bool	publishText (const Eigen::Isometry3d &pose, const std::string &text, colors color, const geometry_msgs::Vector3 scale, bool static_id=true)

bool	publishText (const Eigen::Isometry3d &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)

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 geometry_msgs::Pose &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)

bool	publishWireframeCuboid (const Eigen::Isometry3d &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	publishWireframeCuboid (const Eigen::Isometry3d &pose, double depth, double width, double height, colors color=BLUE, const std::string &ns="Wireframe Cuboid", std::size_t id=0)

bool	publishWireframeRectangle (const Eigen::Isometry3d &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::Isometry3d &pose, double height, double width, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0)

bool	publishXArrow (const Eigen::Isometry3d &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::Isometry3d &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 Eigen::Isometry3d &pose, colors color=TRANSLUCENT, double scale=1.0)

bool	publishXZPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)

bool	publishYArrow (const Eigen::Isometry3d &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)

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	publishYZPlane (const Eigen::Isometry3d &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::Isometry3d &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)

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)

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 ()

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::Isometry3d &offset)
	Before publishing a robot state, optionally change its root transform. More...

Static Public Member Functions inherited from rviz_visual_tools::RvizVisualTools
static Eigen::Isometry3d	convertFromXYZRPY (const std::vector< double > &transform6, EulerConvention convention)

static Eigen::Isometry3d	convertFromXYZRPY (double tx, double ty, double tz, double rx, double ry, double rz, EulerConvention convention)

static geometry_msgs::Point	convertPoint (const Eigen::Vector3d &point)

static Eigen::Vector3d	convertPoint (const geometry_msgs::Point &point)

static geometry_msgs::Point	convertPoint (const geometry_msgs::Vector3 &point)

static geometry_msgs::Point32	convertPoint32 (const Eigen::Vector3d &point)

static Eigen::Vector3d	convertPoint32 (const geometry_msgs::Point32 &point)

static Eigen::Isometry3d	convertPoint32ToPose (const geometry_msgs::Point32 &point)

static Eigen::Isometry3d	convertPointToPose (const Eigen::Vector3d &point)

static geometry_msgs::Pose	convertPointToPose (const geometry_msgs::Point &point)

static geometry_msgs::Pose	convertPose (const Eigen::Isometry3d &pose)

static Eigen::Isometry3d	convertPose (const geometry_msgs::Pose &pose)

static void	convertPoseSafe (const Eigen::Isometry3d &pose, geometry_msgs::Pose &pose_msg)

static void	convertPoseSafe (const geometry_msgs::Pose &pose_msg, Eigen::Isometry3d &pose)

static geometry_msgs::Point	convertPoseToPoint (const Eigen::Isometry3d &pose)

static void	convertToXYZRPY (const Eigen::Isometry3d &pose, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)

static void	convertToXYZRPY (const Eigen::Isometry3d &pose, std::vector< double > &xyzrpy)

static double	dRand (double min, double max)

static float	fRand (float min, float max)

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 (Eigen::Isometry3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())

static void	generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())

static geometry_msgs::Pose	getIdentityPose ()

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::Isometry3d &pose1, const Eigen::Isometry3d &pose2, double threshold=0.000001)

static void	printTransform (const Eigen::Isometry3d &transform)

static void	printTransformFull (const Eigen::Isometry3d &transform)

static void	printTransformRPY (const Eigen::Isometry3d &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 moveit::core::JointModelGroup *, std::vector< double > >	ee_joint_pos_map_

std::map< const moveit::core::JointModelGroup *, visualization_msgs::MarkerArray >	ee_markers_map_

std::map< const moveit::core::JointModelGroup *, EigenSTL::vector_Isometry3d >	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::Isometry3d	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 RVIZ_VISUAL_TOOLS_DECL std::string	NAME

Detailed Description

Definition at line 108 of file moveit_visual_tools.h.

Constructor & Destructor Documentation

◆ MoveItVisualTools() [1/3]

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools ( )

Constructor.

All Markers will be rendered in the planning frame of the model ROBOT_DESCRIPTION and are published to rviz_visual_tools::RVIZ_MARKER_TOPIC

Definition at line 102 of file moveit_visual_tools.cpp.

◆ MoveItVisualTools() [2/3]

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 111 of file moveit_visual_tools.cpp.

◆ MoveItVisualTools() [3/3]

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic = `rviz_visual_tools::RVIZ_MARKER_TOPIC`,
		moveit::core::RobotModelConstPtr	robot_model = `moveit::core::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 120 of file moveit_visual_tools.cpp.

Member Function Documentation

◆ applyVirtualJointTransform()

bool moveit_visual_tools::MoveItVisualTools::applyVirtualJointTransform	(	moveit::core::RobotState &	robot_state,
		const Eigen::Isometry3d &	offset
	)

static

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

Definition at line 1697 of file moveit_visual_tools.cpp.

◆ attachCO()

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 654 of file moveit_visual_tools.cpp.

◆ checkAndPublishCollision()

bool moveit_visual_tools::MoveItVisualTools::checkAndPublishCollision	(	const moveit::core::RobotState &	robot_state,
		const planning_scene::PlanningScene *	planning_scene,
		const rviz_visual_tools::colors &	highlight_link_color = `rviz_visual_tools::RED`,
		const rviz_visual_tools::colors &	contact_point_color = `rviz_visual_tools::PURPLE`
	)

Check if the robot state is in collision inside the planning scene and visualize the result. If the state is not colliding only the robot state is published. If there is a collision the colliding links are ghlighted and the contact points are visualized with markers.

Parameters

robot_state	- The robot state to check for collisions
planning_scene	- The planning scene to use for collision checks
highlight_link_color	- The color to use for highligting colliding links
contact_point_color	- The color to use for contact point markers

Returns: - True if there is a collision

Definition at line 1102 of file moveit_visual_tools.cpp.

◆ checkForVirtualJoint()

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 1669 of file moveit_visual_tools.cpp.

◆ cleanupACO()

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 641 of file moveit_visual_tools.cpp.

◆ cleanupCO()

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 629 of file moveit_visual_tools.cpp.

◆ disableRobotStateRootOffet()

void moveit_visual_tools::MoveItVisualTools::disableRobotStateRootOffet ( )

Turn off the root offset feature.

Definition at line 1482 of file moveit_visual_tools.cpp.

◆ enableRobotStateRootOffet()

void moveit_visual_tools::MoveItVisualTools::enableRobotStateRootOffet ( const Eigen::Isometry3d & offset )

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

Definition at line 1476 of file moveit_visual_tools.cpp.

◆ getCollisionWallMsg()

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 969 of file moveit_visual_tools.cpp.

◆ getPlanningSceneMonitor()

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 1657 of file moveit_visual_tools.cpp.

◆ getRobotModel()

moveit::core::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::getRobotModel ( )

Get a pointer to the robot model.

Returns: const RobotModel

Definition at line 274 of file moveit_visual_tools.cpp.

◆ getRootRobotState()

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

inline

Allow robot state to be altered.

Returns: shared pointer to robot state

Definition at line 212 of file moveit_visual_tools.h.

◆ getSharedRobotState()

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

Allow robot state to be altered.

Returns: shared pointer to robot state

Definition at line 267 of file moveit_visual_tools.cpp.

◆ hideRobot()

bool moveit_visual_tools::MoveItVisualTools::hideRobot ( )

Hide robot in RobotState display in Rviz.

Returns: true on success

Definition at line 1589 of file moveit_visual_tools.cpp.

◆ loadCollisionSceneFromFile() [1/2]

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 1062 of file moveit_visual_tools.cpp.

◆ loadCollisionSceneFromFile() [2/2]

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile	(	const std::string &	path,
		const Eigen::Isometry3d &	offset
	)

Definition at line 1067 of file moveit_visual_tools.cpp.

◆ loadEEMarker()

bool moveit_visual_tools::MoveItVisualTools::loadEEMarker	(	const moveit::core::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 281 of file moveit_visual_tools.cpp.

◆ loadPlanningSceneMonitor()

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 126 of file moveit_visual_tools.cpp.

◆ loadRobotStatePub()

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

Definition at line 386 of file moveit_visual_tools.cpp.

◆ loadSharedRobotState()

bool moveit_visual_tools::MoveItVisualTools::loadSharedRobotState ( )

Load robot state only as needed.

Returns: true if successful in loading

Definition at line 239 of file moveit_visual_tools.cpp.

◆ loadTrajectoryPub()

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 372 of file moveit_visual_tools.cpp.

◆ moveCollisionObject() [1/2]

bool moveit_visual_tools::MoveItVisualTools::moveCollisionObject	(	const Eigen::Isometry3d &	pose,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

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

Parameters

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

Returns: true on success

Definition at line 208 of file moveit_visual_tools.cpp.

◆ moveCollisionObject() [2/2]

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

Definition at line 214 of file moveit_visual_tools.cpp.

◆ processAttachedCollisionObjectMsg()

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 190 of file moveit_visual_tools.cpp.

◆ processCollisionObjectMsg()

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 171 of file moveit_visual_tools.cpp.

◆ publishAnimatedGrasp()

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

Animate a single grasp in its movement direction Note this function calls publish() automatically in order to achieve animations.

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 497 of file moveit_visual_tools.cpp.

◆ publishAnimatedGrasps()

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

Display an animated vector of grasps including its approach movement in Rviz Note this function calls publish() automatically in order to achieve animations.

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 478 of file moveit_visual_tools.cpp.

◆ publishCollisionBlock()

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 670 of file moveit_visual_tools.cpp.

◆ publishCollisionCuboid() [1/6]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const Eigen::Isometry3d &	pose,
		const Eigen::Vector3d &	size,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

inline

Create a MoveIt collision rectangular cuboid at the given pose.

Parameters

pose	- position of the centroid of the cube
size	- the size (x,y,z) 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 418 of file moveit_visual_tools.h.

◆ publishCollisionCuboid() [2/6]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const Eigen::Isometry3d &	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 736 of file moveit_visual_tools.cpp.

◆ publishCollisionCuboid() [3/6]

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 694 of file moveit_visual_tools.cpp.

◆ publishCollisionCuboid() [4/6]

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 700 of file moveit_visual_tools.cpp.

◆ publishCollisionCuboid() [5/6]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Vector3 &	size,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)

inline

Definition at line 423 of file moveit_visual_tools.h.

◆ publishCollisionCuboid() [6/6]

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 743 of file moveit_visual_tools.cpp.

◆ publishCollisionCylinder() [1/4]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const Eigen::Isometry3d &	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 824 of file moveit_visual_tools.cpp.

◆ publishCollisionCylinder() [2/4]

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 802 of file moveit_visual_tools.cpp.

◆ publishCollisionCylinder() [3/4]

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 795 of file moveit_visual_tools.cpp.

◆ publishCollisionCylinder() [4/4]

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 830 of file moveit_visual_tools.cpp.

◆ publishCollisionFloor()

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 777 of file moveit_visual_tools.cpp.

◆ publishCollisionGraph()

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 898 of file moveit_visual_tools.cpp.

◆ publishCollisionMesh() [1/4]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Isometry3d &	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 875 of file moveit_visual_tools.cpp.

◆ publishCollisionMesh() [2/4]

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Isometry3d &	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 851 of file moveit_visual_tools.cpp.

◆ publishCollisionMesh() [3/4]

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 881 of file moveit_visual_tools.cpp.

◆ publishCollisionMesh() [4/4]

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 857 of file moveit_visual_tools.cpp.

◆ publishCollisionTable()

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`
	)

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 1024 of file moveit_visual_tools.cpp.

◆ publishCollisionWall() [1/2]

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 1009 of file moveit_visual_tools.cpp.

◆ publishCollisionWall() [2/2]

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 1015 of file moveit_visual_tools.cpp.

◆ publishContactPoints() [1/2]

bool moveit_visual_tools::MoveItVisualTools::publishContactPoints	(	const collision_detection::CollisionResult::ContactMap &	contacts,
		const planning_scene::PlanningScene *	planning_scene,
		const rviz_visual_tools::colors &	color = `rviz_visual_tools::RED`
	)

Given a contact map and planning scene, publish the contact points.

Parameters

contacts	- The populated contacts to visualize
planning_scene
color	- display color of markers

Returns: true on success

Definition at line 1146 of file moveit_visual_tools.cpp.

◆ publishContactPoints() [2/2]

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 1129 of file moveit_visual_tools.cpp.

◆ publishEEMarkers() [1/4]

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers	(	const Eigen::Isometry3d &	pose,
		const moveit::core::JointModelGroup *	ee_jmg,
		const rviz_visual_tools::colors &	color = `rviz_visual_tools::DEFAULT`,
		const std::string &	ns = `"end_effector"`
	)

inline

Definition at line 271 of file moveit_visual_tools.h.

◆ publishEEMarkers() [2/4]

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers	(	const Eigen::Isometry3d &	pose,
		const moveit::core::JointModelGroup *	ee_jmg,
		const std::vector< double > &	ee_joint_pos,
		const rviz_visual_tools::colors &	color = `rviz_visual_tools::DEFAULT`,
		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 264 of file moveit_visual_tools.h.

◆ publishEEMarkers() [3/4]

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

inline

Definition at line 277 of file moveit_visual_tools.h.

◆ publishEEMarkers() [4/4]

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

Definition at line 404 of file moveit_visual_tools.cpp.

◆ publishGrasps()

bool moveit_visual_tools::MoveItVisualTools::publishGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const moveit::core::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 458 of file moveit_visual_tools.cpp.

◆ publishIKSolutions()

bool moveit_visual_tools::MoveItVisualTools::publishIKSolutions	(	const std::vector< trajectory_msgs::JointTrajectoryPoint > &	ik_solutions,
		const moveit::core::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 576 of file moveit_visual_tools.cpp.

◆ publishRobotState() [1/5]

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotState &	robot_state,
		const rviz_visual_tools::colors &	color = `rviz_visual_tools::DEFAULT`,
		const std::vector< std::string > &	highlight_links = `{}`
	)

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
highlight_links	- if the \|color\| is not \|DEFAULT\|, allows selective robot links to be highlighted. By default (empty) all links are highlighted.

Definition at line 1516 of file moveit_visual_tools.cpp.

◆ publishRobotState() [2/5]

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotStatePtr &	robot_state,
		const rviz_visual_tools::colors &	color = `rviz_visual_tools::DEFAULT`,
		const std::vector< std::string > &	highlight_links = `{}`
	)

Definition at line 1509 of file moveit_visual_tools.cpp.

◆ publishRobotState() [3/5]

void moveit_visual_tools::MoveItVisualTools::publishRobotState ( const moveit_msgs::DisplayRobotState & display_robot_state_msg )

Definition at line 1582 of file moveit_visual_tools.cpp.

◆ publishRobotState() [4/5]

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const std::vector< double > &	joint_positions,
		const moveit::core::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 1494 of file moveit_visual_tools.cpp.

◆ publishRobotState() [5/5]

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const moveit::core::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 1487 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [1/6]

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::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 1401 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [2/6]

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::LinkModel *	ee_parent_link,
		const moveit::core::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 1335 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [3/6]

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

Definition at line 1435 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [4/6]

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 1365 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [5/6]

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

Definition at line 1428 of file moveit_visual_tools.cpp.

◆ publishTrajectoryLine() [6/6]

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 1358 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [1/7]

void moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath ( const moveit_msgs::DisplayTrajectory & display_trajectory_msg )

Definition at line 1327 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [2/7]

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

Definition at line 1271 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [3/7]

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

Definition at line 1265 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [4/7]

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

Definition at line 1280 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [5/7]

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

Definition at line 1240 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [6/7]

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

Definition at line 1235 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPath() [7/7]

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

Definition at line 1206 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPoint()

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 1177 of file moveit_visual_tools.cpp.

◆ publishTrajectoryPoints()

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 1462 of file moveit_visual_tools.cpp.

◆ publishWorkspaceParameters()

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 1096 of file moveit_visual_tools.cpp.

◆ removeAllCollisionObjects()

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 618 of file moveit_visual_tools.cpp.

◆ setManualSceneUpdating()

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 251 of file moveit_visual_tools.h.

◆ setPlanningSceneMonitor()

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 242 of file moveit_visual_tools.h.

◆ setPlanningSceneTopic()

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

inline

Set the planning scene topic.

Parameters

topic

Definition at line 152 of file moveit_visual_tools.h.

◆ setRobotStateTopic()

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 143 of file moveit_visual_tools.h.

◆ showJointLimits()

void moveit_visual_tools::MoveItVisualTools::showJointLimits ( const 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 1600 of file moveit_visual_tools.cpp.

◆ triggerPlanningSceneUpdate()

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 231 of file moveit_visual_tools.cpp.

Member Data Documentation

◆ display_robot_msgs_

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

protected

Definition at line 759 of file moveit_visual_tools.h.

◆ ee_joint_pos_map_

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

protected

Definition at line 754 of file moveit_visual_tools.h.

◆ ee_markers_map_

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

protected

Definition at line 752 of file moveit_visual_tools.h.

◆ ee_poses_map_

std::map<const moveit::core::JointModelGroup*, EigenSTL::vector_Isometry3d> moveit_visual_tools::MoveItVisualTools::ee_poses_map_

protected

Definition at line 753 of file moveit_visual_tools.h.

◆ hidden_robot_state_

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

protected

Definition at line 768 of file moveit_visual_tools.h.

◆ mannual_trigger_update_

bool moveit_visual_tools::MoveItVisualTools::mannual_trigger_update_ = false

protected

Definition at line 739 of file moveit_visual_tools.h.

◆ planning_scene_topic_

std::string moveit_visual_tools::MoveItVisualTools::planning_scene_topic_

protected

Definition at line 743 of file moveit_visual_tools.h.

◆ psm_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::MoveItVisualTools::psm_

protected

Definition at line 736 of file moveit_visual_tools.h.

◆ pub_display_path_

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_display_path_

protected

Definition at line 746 of file moveit_visual_tools.h.

◆ pub_robot_state_

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_robot_state_

protected

Definition at line 747 of file moveit_visual_tools.h.

◆ rm_loader_

robot_model_loader::RobotModelLoaderPtr moveit_visual_tools::MoveItVisualTools::rm_loader_

protected

Definition at line 749 of file moveit_visual_tools.h.

◆ robot_model_

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

protected

Definition at line 762 of file moveit_visual_tools.h.

◆ robot_state_root_offset_

Eigen::Isometry3d moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_

protected

Definition at line 776 of file moveit_visual_tools.h.

◆ robot_state_root_offset_enabled_

bool moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_enabled_ = false

protected

Definition at line 775 of file moveit_visual_tools.h.

◆ robot_state_topic_

std::string moveit_visual_tools::MoveItVisualTools::robot_state_topic_

protected

Definition at line 742 of file moveit_visual_tools.h.

◆ root_robot_state_

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

protected

Definition at line 772 of file moveit_visual_tools.h.

◆ shared_robot_state_

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

protected

Definition at line 765 of file moveit_visual_tools.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoveItVisualTools() [1/3]

◆ MoveItVisualTools() [2/3]

◆ MoveItVisualTools() [3/3]

Member Function Documentation

◆ applyVirtualJointTransform()

◆ attachCO()

◆ checkAndPublishCollision()

◆ checkForVirtualJoint()

◆ cleanupACO()

◆ cleanupCO()

◆ disableRobotStateRootOffet()

◆ enableRobotStateRootOffet()

◆ getCollisionWallMsg()

◆ getPlanningSceneMonitor()

Private Functions

◆ getRobotModel()

◆ getRootRobotState()

◆ getSharedRobotState()

◆ hideRobot()

◆ loadCollisionSceneFromFile() [1/2]

◆ loadCollisionSceneFromFile() [2/2]

◆ loadEEMarker()

◆ loadPlanningSceneMonitor()

◆ loadRobotStatePub()

◆ loadSharedRobotState()

◆ loadTrajectoryPub()

◆ moveCollisionObject() [1/2]

◆ moveCollisionObject() [2/2]

◆ processAttachedCollisionObjectMsg()

◆ processCollisionObjectMsg()

◆ publishAnimatedGrasp()

◆ publishAnimatedGrasps()

◆ publishCollisionBlock()

◆ publishCollisionCuboid() [1/6]

◆ publishCollisionCuboid() [2/6]

◆ publishCollisionCuboid() [3/6]

◆ publishCollisionCuboid() [4/6]

◆ publishCollisionCuboid() [5/6]

◆ publishCollisionCuboid() [6/6]

◆ publishCollisionCylinder() [1/4]

◆ publishCollisionCylinder() [2/4]

◆ publishCollisionCylinder() [3/4]

◆ publishCollisionCylinder() [4/4]

◆ publishCollisionFloor()

◆ publishCollisionGraph()

◆ publishCollisionMesh() [1/4]

◆ publishCollisionMesh() [2/4]

◆ publishCollisionMesh() [3/4]

◆ publishCollisionMesh() [4/4]

◆ publishCollisionTable()

◆ publishCollisionWall() [1/2]

◆ publishCollisionWall() [2/2]

◆ publishContactPoints() [1/2]

◆ publishContactPoints() [2/2]

◆ publishEEMarkers() [1/4]

◆ publishEEMarkers() [2/4]

◆ publishEEMarkers() [3/4]

◆ publishEEMarkers() [4/4]

◆ publishGrasps()

◆ publishIKSolutions()

◆ publishRobotState() [1/5]

◆ publishRobotState() [2/5]

◆ publishRobotState() [3/5]

◆ publishRobotState() [4/5]

◆ publishRobotState() [5/5]

◆ publishTrajectoryLine() [1/6]

◆ publishTrajectoryLine() [2/6]

◆ publishTrajectoryLine() [3/6]

◆ publishTrajectoryLine() [4/6]

◆ publishTrajectoryLine() [5/6]

◆ publishTrajectoryLine() [6/6]

◆ publishTrajectoryPath() [1/7]

◆ publishTrajectoryPath() [2/7]