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 any 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 ()
	Avoid this function! Returns an unsafe pointer to the current planning scene.
const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Avoid this function! Returns an unsafe pointer to the current 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)
bool	requestPlanningSceneState (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE)
	Request planning scene state using a service call.
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_TOPIC)
	Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent.
void	startSceneMonitor (const std::string &scene_topic=DEFAULT_PLANNING_SCENE_TOPIC)
	Start the scene monitor.
void	startStateMonitor (const std::string &joint_states_topic=DEFAULT_JOINT_STATES_TOPIC, const std::string &attached_objects_topic=DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC)
	Start the current state monitor.
void	startWorldGeometryMonitor (const std::string &collision_objects_topic=DEFAULT_COLLISION_OBJECT_TOPIC, const std::string &planning_scene_world_topic=DEFAULT_PLANNING_SCENE_WORLD_TOPIC, const bool load_octomap_monitor=true)
	Start 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 ()
Static Public Attributes
static const std::string	DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object"
	The name of the topic used by default for attached collision objects.
static const std::string	DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object"
	The name of the topic used by default for receiving collision objects in the world.
static const std::string	DEFAULT_JOINT_STATES_TOPIC = "joint_states"
	The name of the topic used by default for receiving joint states.
static const std::string	DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene"
	The name of the service used by default for requesting full planning scene state.
static const std::string	DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene"
	The name of the topic used by default for receiving full planning scenes or planning scene diffs.
static const std::string	DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world"
	The name of the topic used by default for receiving geometry information about a planning scene (complete overwrite of world geometry)
static const std::string	MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene"
	The name of the topic used by default for publishing the monitored planning scene (this is without "/" in the name, so the topic is prefixed by the node name)
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< const robot_model::LinkModel *, std::vector< std::pair < occupancy_map_monitor::ShapeHandle, std::size_t > > >	LinkShapeHandles
Protected Member Functions
void	attachObjectCallback (const moveit_msgs::AttachedCollisionObjectConstPtr &obj)
	Callback for a new attached object msg.
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	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::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
std::map< std::string, double >	default_robot_link_padd_
	default robot link padding
std::map< std::string, double >	default_robot_link_scale_
	default robot link scale
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_
boost::recursive_mutex	update_lock_
	lock access to update_callbacks_
Private Member Functions
void	getUpdatedFrameTransforms (std::vector< geometry_msgs::TransformStamped > &transforms)
	Last time the state was updated.
void	newPlanningSceneCallback (const moveit_msgs::PlanningSceneConstPtr &scene)
void	newPlanningSceneMessage (const moveit_msgs::PlanningScene &scene)
void	onStateUpdate (const sensor_msgs::JointStateConstPtr &joint_state)
void	scenePublishingThread ()
void	stateUpdateTimerCallback (const ros::WallTimerEvent &event)
Private Attributes
ros::WallDuration	dt_state_update_
	the amount of time to wait in between updates to the robot state
ros::WallTime	last_state_update_
	Last time the state was updated from current_state_monitor_.
DynamicReconfigureImpl *	reconfigure_impl_
robot_model_loader::RobotModelLoaderPtr	rm_loader_
robot_model::RobotModelConstPtr	robot_model_
ros::Duration	shape_transform_cache_lookup_wait_time_
	the amount of time to wait when looking up transforms
boost::mutex	state_pending_mutex_
volatile bool	state_update_pending_
	True when we need to update the RobotState from current_state_monitor_.
ros::WallTimer	state_update_timer_
	timer for state updates.

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 449 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 450 of file planning_scene_monitor.h.

typedef std::map<const robot_model::LinkModel*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > > planning_scene_monitor::PlanningSceneMonitor::LinkShapeHandles [protected]

Definition at line 448 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 octomaps, 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 112 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 127 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 119 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 134 of file planning_scene_monitor.cpp.

planning_scene_monitor::PlanningSceneMonitor::~PlanningSceneMonitor ( )

Definition at line 141 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 1117 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 572 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 1124 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 558 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 551 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 1209 of file planning_scene_monitor.cpp.

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

Configure the default padding.

Definition at line 1251 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 756 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 767 of file planning_scene_monitor.cpp.

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

Definition at line 642 of file planning_scene_monitor.cpp.

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

Definition at line 677 of file planning_scene_monitor.cpp.

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

Definition at line 586 of file planning_scene_monitor.cpp.

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

Definition at line 716 of file planning_scene_monitor.cpp.

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

Definition at line 668 of file planning_scene_monitor.cpp.

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

Get the default attached padding.

Definition at line 224 of file planning_scene_monitor.h.

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

Get the default object padding.

Definition at line 218 of file planning_scene_monitor.h.

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

Get the default robot padding.

Definition at line 206 of file planning_scene_monitor.h.

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

Get the default robot scaling.

Definition at line 212 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 any monitor)

Definition at line 328 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 364 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 143 of file planning_scene_monitor.h.

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

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning:: Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also:: LockedPlanningSceneRO; LockedPlanningSceneRW.

Returns:: A pointer to the current planning scene.

Definition at line 173 of file planning_scene_monitor.h.

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

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning:: Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also:: LockedPlanningSceneRO; LockedPlanningSceneRW.

Returns:: A pointer to the current planning scene.

Definition at line 181 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 252 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 200 of file planning_scene_monitor.h.

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

Definition at line 154 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 149 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 836 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 259 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 230 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 1136 of file planning_scene_monitor.cpp.

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

Definition at line 628 of file planning_scene_monitor.cpp.

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

Definition at line 699 of file planning_scene_monitor.cpp.

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

Definition at line 615 of file planning_scene_monitor.cpp.

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

Definition at line 739 of file planning_scene_monitor.cpp.

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

Definition at line 654 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 161 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 786 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 800 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 235 of file planning_scene_monitor.cpp.

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

Definition at line 453 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage ( const moveit_msgs::PlanningScene & scene ) [private]

Definition at line 458 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 527 of file planning_scene_monitor.cpp.

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

Callback for octomap updates.

Definition at line 1045 of file planning_scene_monitor.cpp.

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

Definition at line 993 of file planning_scene_monitor.cpp.

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

Definition at line 1203 of file planning_scene_monitor.cpp.

bool planning_scene_monitor::PlanningSceneMonitor::requestPlanningSceneState ( const std::string & service_name = DEFAULT_PLANNING_SCENE_SERVICE )

Request planning scene state using a service call.

Parameters:

service_name The name of the service to use for requesting the planning scene. This must be a service of type moveit_msgs::GetPlanningScene and is usually called "/get_planning_scene".

Definition at line 414 of file planning_scene_monitor.cpp.

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

Definition at line 305 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 1130 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 1069 of file planning_scene_monitor.cpp.

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

Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent.

Definition at line 293 of file planning_scene_monitor.cpp.

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

Start the scene monitor.

Parameters:

scene_topic The name of the planning scene topic

Definition at line 814 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startStateMonitor	(	const std::string &	joint_states_topic = `DEFAULT_JOINT_STATES_TOPIC`,
		const std::string &	attached_objects_topic = `DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC`
	)

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 951 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::startWorldGeometryMonitor	(	const std::string &	collision_objects_topic = `DEFAULT_COLLISION_OBJECT_TOPIC`,
		const std::string &	planning_scene_world_topic = `DEFAULT_PLANNING_SCENE_WORLD_TOPIC`,
		const bool	load_octomap_monitor = `true`
	)

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
planning_scene_world_topic	The topic to listen to for world scene geometry
load_octomap_monitor	Flag to disable octomap monitor if desired

Definition at line 884 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stateUpdateTimerCallback ( const ros::WallTimerEvent & event ) [private]

Definition at line 1019 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopPublishingPlanningScene ( )

Stop publishing the maintained planning scene.

Definition at line 279 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor ( )

Stop the scene monitor.

Definition at line 827 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor ( )

Stop the state monitor.

Definition at line 978 of file planning_scene_monitor.cpp.

void planning_scene_monitor::PlanningSceneMonitor::stopWorldGeometryMonitor ( )

Stop the world geometry monitor.

Definition at line 932 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 403 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 793 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 807 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 1185 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 1094 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 398 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 393 of file planning_scene_monitor.cpp.

Member Data Documentation

AttachedBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::attached_body_shape_handles_ [protected]

Definition at line 453 of file planning_scene_monitor.h.

ros::Subscriber planning_scene_monitor::PlanningSceneMonitor::attached_collision_object_subscriber_ [protected]

Definition at line 436 of file planning_scene_monitor.h.

CollisionBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::collision_body_shape_handles_ [protected]

Definition at line 454 of file planning_scene_monitor.h.

boost::scoped_ptr<tf::MessageFilter<moveit_msgs::CollisionObject> > planning_scene_monitor::PlanningSceneMonitor::collision_object_filter_ [protected]

Definition at line 439 of file planning_scene_monitor.h.

boost::scoped_ptr<message_filters::Subscriber<moveit_msgs::CollisionObject> > planning_scene_monitor::PlanningSceneMonitor::collision_object_subscriber_ [protected]

Definition at line 438 of file planning_scene_monitor.h.

CurrentStateMonitorPtr planning_scene_monitor::PlanningSceneMonitor::current_state_monitor_ [protected]

Definition at line 445 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object" [static]

The name of the topic used by default for attached collision objects.

Definition at line 84 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_attached_padd_ [protected]

default attached padding

Definition at line 418 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object" [static]

The name of the topic used by default for receiving collision objects in the world.

Definition at line 87 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC = "joint_states" [static]

The name of the topic used by default for receiving joint states.

Definition at line 81 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_object_padd_ [protected]

default object padding

Definition at line 416 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene" [static]

The name of the service used by default for requesting full planning scene state.

Definition at line 96 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene" [static]

The name of the topic used by default for receiving full planning scenes or planning scene diffs.

Definition at line 93 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world" [static]

The name of the topic used by default for receiving geometry information about a planning scene (complete overwrite of world geometry)

Definition at line 90 of file planning_scene_monitor.h.

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_padd_ [protected]

default robot link padding

Definition at line 420 of file planning_scene_monitor.h.

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_scale_ [protected]

default robot link scale

Definition at line 422 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_robot_padd_ [protected]

default robot padding

Definition at line 412 of file planning_scene_monitor.h.

double planning_scene_monitor::PlanningSceneMonitor::default_robot_scale_ [protected]

default robot scaling

Definition at line 414 of file planning_scene_monitor.h.

ros::WallDuration planning_scene_monitor::PlanningSceneMonitor::dt_state_update_ [private]

the amount of time to wait in between updates to the robot state

Definition at line 491 of file planning_scene_monitor.h.

ros::WallTime planning_scene_monitor::PlanningSceneMonitor::last_state_update_ [private]

Last time the state was updated from current_state_monitor_.

Definition at line 505 of file planning_scene_monitor.h.

ros::Time planning_scene_monitor::PlanningSceneMonitor::last_update_time_ [protected]

List of callbacks to trigger when updates are received.

Definition at line 460 of file planning_scene_monitor.h.

LinkShapeHandles planning_scene_monitor::PlanningSceneMonitor::link_shape_handles_ [protected]

Definition at line 452 of file planning_scene_monitor.h.

std::string planning_scene_monitor::PlanningSceneMonitor::monitor_name_ [protected]

The name of this scene monitor.

Definition at line 399 of file planning_scene_monitor.h.

const std::string planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene" [static]

The name of the topic used by default for publishing the monitored planning scene (this is without "/" in the name, so the topic is prefixed by the node name)

Definition at line 99 of file planning_scene_monitor.h.

SceneUpdateType planning_scene_monitor::PlanningSceneMonitor::new_scene_update_ [protected]

Definition at line 429 of file planning_scene_monitor.h.

boost::condition_variable_any planning_scene_monitor::PlanningSceneMonitor::new_scene_update_condition_ [protected]

Definition at line 430 of file planning_scene_monitor.h.

ros::NodeHandle planning_scene_monitor::PlanningSceneMonitor::nh_ [protected]

mutex for stored scene

Definition at line 406 of file planning_scene_monitor.h.

boost::scoped_ptr<occupancy_map_monitor::OccupancyMapMonitor> planning_scene_monitor::PlanningSceneMonitor::octomap_monitor_ [protected]

Definition at line 442 of file planning_scene_monitor.h.

planning_scene::PlanningScenePtr planning_scene_monitor::PlanningSceneMonitor::parent_scene_ [protected]

Definition at line 403 of file planning_scene_monitor.h.