PlanningSceneMonitor Subscribes to the topic planning_scene. More...

#include <planning_scene_monitor.h>

Inheritance diagram for planning_scene_monitor::PlanningSceneMonitor:

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.
void	clearUpdateCallbacks ()
	Clear the functions to be called when an update to the scene is received.
double	getDefaultAttachedObjectPadding () const
	Get the default attached padding.
double	getDefaultObjectPadding () const
	Get the default object padding.
double	getDefaultRobotPadding () const
	Get the default robot padding.
double	getDefaultRobotScale () const
	Get the default robot scaling.
const ros::Time &	getLastUpdateTime () const
	Return the time when the last update was made to the planning scene (by the monitor)
void	getMonitoredTopics (std::vector< std::string > &topics) const
	Get the topic names that the monitor is listening to.
const std::string &	getName () const
	Get the name of this monitor.
const planning_scene::PlanningScenePtr &	getPlanningScene ()
	Get the planning scene.
const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Get the planning scene.
double	getPlanningScenePublishingFrequency () const
	Get the maximum frequency at which planning scenes are published (Hz)
const std::string &	getRobotDescription () const
	Get the stored robot description.
const robot_model::RobotModelConstPtr &	getRobotModel () const
const robot_model_loader::RobotModelLoaderPtr &	getRobotModelLoader () const
	Get the user kinematic model loader.
const CurrentStateMonitorPtr &	getStateMonitor () const
	Get the stored instance of the stored current state monitor.
double	getStateUpdateFrequency ()
	Get the maximum frequency (Hz) at which the current state of the planning scene is updated.
const boost::shared_ptr < tf::Transformer > &	getTFClient () const
	Get the instance of the TF client that was passed to the constructor of this class.
void	lockSceneRead ()
	Lock the scene for reading (multiple threads can lock for reading at the same time)
void	lockSceneWrite ()
	Lock the scene for writing (only one thread can lock for writing and no other thread can lock for reading)
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.
	PlanningSceneMonitor (const std::string &robot_description, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="")
	Constructor.
	PlanningSceneMonitor (const robot_model_loader::RobotModelLoaderPtr &rml, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="")
	Constructor.
	PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const std::string &robot_description, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="")
	Constructor.
	PlanningSceneMonitor (const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >(), const std::string &name="")
	Constructor.
void	publishDebugInformation (bool flag)
void	setPlanningScenePublishingFrequency (double hz)
	Set the maximum frequency at which planning scenes are being published.
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.
void	startPublishingPlanningScene (SceneUpdateType event, const std::string &planning_scene_topic="monitored_planning_scene")
	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.
void	startSceneMonitor (const std::string &scene_topic="planning_scene")
	Start the scene monitor.
void	startStateMonitor (const std::string &joint_states_topic="joint_states", const std::string &attached_objects_topic="attached_collision_object")
	Start the current state monitor.
void	startWorldGeometryMonitor (const std::string &collision_objects_topic="collision_object", const std::string &collision_map_topic="collision_map", const std::string &planning_scene_world_topic="planning_scene_world")
	Start listening for objects in the world, the collision map and attached collision objects. Additionally, this function starts the OccupancyMapMonitor as well.
void	stopPublishingPlanningScene ()
	Stop publishing the maintained planning scene.
void	stopSceneMonitor ()
	Stop the scene monitor.
void	stopStateMonitor ()
	Stop the state monitor.
void	stopWorldGeometryMonitor ()
	Stop the world geometry monitor.
void	triggerSceneUpdateEvent (SceneUpdateType update_type)
	This function is called every time there is a change to the planning scene.
void	unlockSceneRead ()
	Unlock the scene from reading (multiple threads can lock for reading at the same time)
void	unlockSceneWrite ()
	Lock the scene from writing (only one thread can lock for writing and no other thread can lock for reading)
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.
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().
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.
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.
	~PlanningSceneMonitor ()
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, Eigen::Affine3d * > > >	CollisionBodyShapeHandles
typedef std::map< std::string, occupancy_map_monitor::ShapeHandle >	LinkShapeHandles
Protected Member Functions
void	attachObjectCallback (const moveit_msgs::AttachedCollisionObjectConstPtr &obj)
	Callback for a new attached object msg.
void	collisionMapCallback (const moveit_msgs::CollisionMapConstPtr &map)
	Callback for a new collision map.
void	collisionObjectCallback (const moveit_msgs::CollisionObjectConstPtr &obj)
	Callback for a new collision object msg.
void	collisionObjectFailTFCallback (const moveit_msgs::CollisionObjectConstPtr &obj, tf::filter_failure_reasons::FilterFailureReason reason)
	Callback for a new collision object msg that failed to pass the TF filter.
void	configureCollisionMatrix (const planning_scene::PlanningScenePtr &scene)
	Configure the collision matrix for a particular scene.
void	configureDefaultPadding ()
	Configure the default padding.
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.
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.
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.
void	newPlanningSceneCallback (const moveit_msgs::PlanningSceneConstPtr &scene)
	Callback for a new planning scene msg.
void	newPlanningSceneWorldCallback (const moveit_msgs::PlanningSceneWorldConstPtr &world)
	Callback for a new planning scene world.
void	octomapUpdateCallback ()
	Callback for octomap updates.
Protected Attributes
AttachedBodyShapeHandles	attached_body_shape_handles_
ros::Subscriber	attached_collision_object_subscriber_
CollisionBodyShapeHandles	collision_body_shape_handles_
boost::scoped_ptr < tf::MessageFilter < moveit_msgs::CollisionMap > >	collision_map_filter_
boost::scoped_ptr < message_filters::Subscriber < moveit_msgs::CollisionMap > >	collision_map_subscriber_
boost::scoped_ptr < tf::MessageFilter < moveit_msgs::CollisionObject > >	collision_object_filter_
boost::scoped_ptr < message_filters::Subscriber < moveit_msgs::CollisionObject > >	collision_object_subscriber_
CurrentStateMonitorPtr	current_state_monitor_
double	default_attached_padd_
	default attached padding
double	default_object_padd_
	default object padding
double	default_robot_padd_
	default robot padding
double	default_robot_scale_
	default robot scaling
ros::Time	last_update_time_
	List of callbacks to trigger when updates are received.
LinkShapeHandles	link_shape_handles_
std::string	monitor_name_
	The name of this scene monitor.
SceneUpdateType	new_scene_update_
boost::condition_variable_any	new_scene_update_condition_
ros::NodeHandle	nh_
	mutex for stored scene
boost::scoped_ptr < occupancy_map_monitor::OccupancyMapMonitor >	octomap_monitor_
planning_scene::PlanningScenePtr	parent_scene_
ros::Publisher	planning_scene_publisher_
ros::Subscriber	planning_scene_subscriber_
ros::Subscriber	planning_scene_world_subscriber_
boost::scoped_ptr< boost::thread >	publish_planning_scene_
double	publish_planning_scene_frequency_
SceneUpdateType	publish_update_types_
std::string	robot_description_
ros::NodeHandle	root_nh_
planning_scene::PlanningScenePtr	scene_
planning_scene::PlanningSceneConstPtr	scene_const_
boost::shared_mutex	scene_update_mutex_
	if diffs are monitored, this is the pointer to the parent scene
boost::recursive_mutex	shape_handles_lock_
boost::shared_ptr < tf::Transformer >	tf_
std::vector< boost::function < void(SceneUpdateType)> >	update_callbacks_
Private Member Functions
void	getUpdatedFrameTransforms (std::vector< geometry_msgs::TransformStamped > &transforms)
	Last time the state was updated.
void	onStateUpdate (const sensor_msgs::JointStateConstPtr &joint_state)
void	scenePublishingThread ()
Private Attributes
double	dt_state_update_
	the amount of time to wait in between updates to the robot state (in seconds)
ros::WallTime	last_state_update_
DynamicReconfigureImpl *	reconfigure_impl_
robot_model_loader::RobotModelLoaderPtr	rm_loader_
robot_model::RobotModelConstPtr	robot_model_

Detailed Description

PlanningSceneMonitor Subscribes to the topic planning_scene.

Definition at line 58 of file planning_scene_monitor.h.

Member Typedef Documentation

typedef std::map<const robot_state::AttachedBody*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > > planning_scene_monitor::PlanningSceneMonitor::AttachedBodyShapeHandles [protected]

Definition at line 412 of file planning_scene_monitor.h.

typedef std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, Eigen::Affine3d*> > > planning_scene_monitor::PlanningSceneMonitor::CollisionBodyShapeHandles [protected]

Definition at line 413 of file planning_scene_monitor.h.

typedef std::map<std::string, occupancy_map_monitor::ShapeHandle> planning_scene_monitor::PlanningSceneMonitor::LinkShapeHandles [protected]

Definition at line 411 of file planning_scene_monitor.h.

Member Enumeration Documentation

enum planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType

Enumerator:

UPDATE_NONE	No update.
UPDATE_STATE	The state in the monitored scene was updated.
UPDATE_TRANSFORMS	The maintained set of fixed transforms in the monitored scene was updated.
UPDATE_GEOMETRY	The geometry of the scene was updated. This includes receiving new maps, collision objects, attached objects, scene geometry, etc.
UPDATE_SCENE	The entire scene was updated.

Definition at line 62 of file planning_scene_monitor.h.

Constructor & Destructor Documentation

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const std::string &	robot_description,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`,
		const std::string &	name = `""`
	)

Constructor.

Parameters:

robot_description	The name of the ROS parameter that contains the URDF (in string format)
tf	A pointer to a tf::Transformer
name	A name identifying this planning scene monitor

Definition at line 103 of file planning_scene_monitor.cpp.

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const robot_model_loader::RobotModelLoaderPtr &	rml,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`,
		const std::string &	name = `""`
	)

Constructor.

Parameters:

rml	A pointer to a kinematic model loader
tf	A pointer to a tf::Transformer
name	A name identifying this planning scene monitor

Definition at line 118 of file planning_scene_monitor.cpp.

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const planning_scene::PlanningScenePtr &	scene,
		const std::string &	robot_description,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`,
		const std::string &	name = `""`
	)

Constructor.

Parameters:

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	A pointer to a tf::Transformer
name	A name identifying this planning scene monitor

Definition at line 110 of file planning_scene_monitor.cpp.

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const planning_scene::PlanningScenePtr &	scene,
		const robot_model_loader::RobotModelLoaderPtr &	rml,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`,
		const std::string &	name = `""`
	)

Constructor.

Parameters:

scene	The scene instance to maintain up to date with monitored information
rml	A pointer to a kinematic model loader
tf	A pointer to a tf::Transformer
name	A name identifying this planning scene monitor

Definition at line 125 of file planning_scene_monitor.cpp.

planning_scene_monitor::PlanningSceneMonitor::~PlanningSceneMonitor ( )

Definition at line 132 of file planning_scene_monitor.cpp.

Member Function Documentation

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 967 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::attachObjectCallback ( const moveit_msgs::AttachedCollisionObjectConstPtr & obj ) [protected]

Callback for a new attached object msg.

Definition at line 495 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 973 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::collisionMapCallback ( const moveit_msgs::CollisionMapConstPtr & map ) [protected]

Callback for a new collision map.

Definition at line 509 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::collisionObjectCallback ( const moveit_msgs::CollisionObjectConstPtr & obj ) [protected]

Callback for a new collision object msg.

Definition at line 481 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::collisionObjectFailTFCallback	(	const moveit_msgs::CollisionObjectConstPtr &	obj,
		tf::filter_failure_reasons::FilterFailureReason	reason
	)		`[protected]`

Callback for a new collision object msg that failed to pass the TF filter.

Definition at line 474 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::configureCollisionMatrix ( const planning_scene::PlanningScenePtr & scene ) [protected]

Configure the collision matrix for a particular scene.

Definition at line 1057 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::configureDefaultPadding ( ) [protected]

Configure the default padding.

Definition at line 1099 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback	(	robot_state::AttachedBody *	attached_body,
		bool	just_attached
	)		`[protected]`

Callback for a change for an attached object of the current state of the planning scene.

Definition at line 668 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::currentWorldObjectUpdateCallback	(	const collision_detection::World::ObjectConstPtr &	object,
		collision_detection::World::Action	action
	)		`[protected]`

Callback for a change in the world maintained by the planning scene.

Definition at line 679 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodiesFromOctree ( ) [protected]

Definition at line 569 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodyFromOctree ( const robot_state::AttachedBody * attached_body ) [protected]

Definition at line 601 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree ( ) [protected]

Definition at line 523 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectFromOctree ( const collision_detection::World::ObjectConstPtr & obj ) [protected]

Definition at line 634 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectsFromOctree ( ) [protected]

Definition at line 592 of file planning_scene_monitor.cpp.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultAttachedObjectPadding ( ) const [inline]

Get the default attached padding.

Definition at line 191 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultObjectPadding ( ) const [inline]

Get the default object padding.

Definition at line 185 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotPadding ( ) const [inline]

Get the default robot padding.

Definition at line 173 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotScale ( ) const [inline]

Get the default robot scaling.

Definition at line 179 of file planning_scene_monitor.h.

const ros::Time& planning_scene_monitor::PlanningSceneMonitor::getLastUpdateTime ( ) const [inline]

Return the time when the last update was made to the planning scene (by the monitor)

Definition at line 286 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 354 of file planning_scene_monitor.cpp.

const std::string& planning_scene_monitor::PlanningSceneMonitor::getName ( void ) const [inline]

Get the name of this monitor.

Definition at line 123 of file planning_scene_monitor.h.

const planning_scene::PlanningScenePtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( ) [inline]

Get the planning scene.

Returns:: An instance of the planning scene

Definition at line 141 of file planning_scene_monitor.h.

const planning_scene::PlanningSceneConstPtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( ) const [inline]

Get the planning scene.

Returns:: An instance of the planning scene

Definition at line 148 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getPlanningScenePublishingFrequency ( ) const [inline]

Get the maximum frequency at which planning scenes are published (Hz)

Definition at line 219 of file planning_scene_monitor.h.

const std::string& planning_scene_monitor::PlanningSceneMonitor::getRobotDescription ( ) const [inline]

Get the stored robot description.

Returns:: An instance of the stored robot description

Definition at line 167 of file planning_scene_monitor.h.

const robot_model::RobotModelConstPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModel ( ) const [inline]

Definition at line 134 of file planning_scene_monitor.h.

const robot_model_loader::RobotModelLoaderPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModelLoader ( ) const [inline]

Get the user kinematic model loader.

Definition at line 129 of file planning_scene_monitor.h.

bool planning_scene_monitor::PlanningSceneMonitor::getShapeTransformCache	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		occupancy_map_monitor::ShapeTransformCache &	cache
	)		const `[protected]`

Definition at line 748 of file planning_scene_monitor.cpp.

const CurrentStateMonitorPtr& planning_scene_monitor::PlanningSceneMonitor::getStateMonitor ( ) const [inline]

Get the stored instance of the stored current state monitor.

Returns:: An instance of the stored current state monitor

Definition at line 226 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::getStateUpdateFrequency ( )

Get the maximum frequency (Hz) at which the current state of the planning scene is updated.

const boost::shared_ptr<tf::Transformer>& planning_scene_monitor::PlanningSceneMonitor::getTFClient ( ) const [inline]

Get the instance of the TF client that was passed to the constructor of this class.

Definition at line 197 of file planning_scene_monitor.h.

void planning_scene_monitor::PlanningSceneMonitor::getUpdatedFrameTransforms ( std::vector< geometry_msgs::TransformStamped > & transforms ) [private]

Last time the state was updated.

Definition at line 984 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodiesInOctree ( ) [protected]

Definition at line 558 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodyInOctree ( const robot_state::AttachedBody * attached_body ) [protected]

Definition at line 620 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeRobotLinksInOctree ( ) [protected]

Definition at line 546 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectInOctree ( const collision_detection::World::ObjectConstPtr & obj ) [protected]

Definition at line 654 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectsInOctree ( ) [protected]

Definition at line 581 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::initialize ( const planning_scene::PlanningScenePtr & scene ) [protected]

Initialize the planning scene monitor.

Parameters:

scene The scene instance to fill with data (an instance is allocated if the one passed in is not allocated)

Definition at line 152 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 698 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 712 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 205 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneCallback ( const moveit_msgs::PlanningSceneConstPtr & scene ) [protected]

Callback for a new planning scene msg.

Definition at line 403 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneWorldCallback ( const moveit_msgs::PlanningSceneWorldConstPtr & world ) [protected]

Callback for a new planning scene world.

Definition at line 459 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::octomapUpdateCallback ( ) [protected]

Callback for octomap updates.

Definition at line 914 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::onStateUpdate ( const sensor_msgs::JointStateConstPtr & joint_state ) [private]

Definition at line 903 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::publishDebugInformation ( bool flag )

Definition at line 1051 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread ( ) [private]

Definition at line 275 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 978 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.

Parameters:

hz	the update frequency. By default this is 10Hz.

Definition at line 935 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startPublishingPlanningScene	(	SceneUpdateType	event,
		const std::string &	planning_scene_topic = `"monitored_planning_scene"`
	)

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 263 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor ( const std::string & scene_topic = "planning_scene" )

Start the scene monitor.

Parameters:

scene_topic The name of the planning scene topic

Definition at line 726 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startStateMonitor	(	const std::string &	joint_states_topic = `"joint_states"`,
		const std::string &	attached_objects_topic = `"attached_collision_object"`
	)

Start the current state monitor.

Parameters:

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 874 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startWorldGeometryMonitor	(	const std::string &	collision_objects_topic = `"collision_object"`,
		const std::string &	collision_map_topic = `"collision_map"`,
		const std::string &	planning_scene_world_topic = `"planning_scene_world"`
	)

Start listening for objects in the world, the collision map and attached collision objects. Additionally, this function starts the OccupancyMapMonitor as well.

Parameters:

collision_objects_topic	The topic on which to listen for collision objects
collision_map_topic	The topic on which to listen for the collision map
planning_scene_world_topic	The topic to listen to for world scene geometry

Definition at line 792 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopPublishingPlanningScene ( )

Stop publishing the maintained planning scene.

Definition at line 249 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor ( )

Stop the scene monitor.

Definition at line 739 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor ( )

Stop the state monitor.

Definition at line 895 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopWorldGeometryMonitor ( )

Stop the world geometry monitor.

Definition at line 852 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 395 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 705 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 719 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 1033 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 944 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 390 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 385 of file planning_scene_monitor.cpp.