Public Member Functions | Protected Attributes | Private Member Functions
moveit_visual_tools::MoveItVisualTools Class Reference

#include <moveit_visual_tools.h>

Inheritance diagram for moveit_visual_tools::MoveItVisualTools:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool attachCO (const std::string &name, const std::string &ee_parent_link)
 Attach a collision object from the planning scene.
bool cleanupACO (const std::string &name)
 Remove an active collision object from the planning scene.
bool cleanupCO (const std::string &name)
 Remove a collision object from the planning scene.
void getCollisionWallMsg (double x, double y, double angle, double width, const std::string name, moveit_msgs::CollisionObject &collision_obj)
 Helper for publishCollisionWall.
moveit::core::RobotModelConstPtr getRobotModel ()
 Get a pointer to the robot model.
moveit::core::RobotStatePtr & getSharedRobotState ()
 Allow robot state to be altered.
bool hideRobot ()
 Fake removing a Robot State display in Rviz by simply moving it very far away.
bool loadCollisionSceneFromFile (const std::string &path)
 Load a planning scene to a planning_scene_monitor from file.
bool loadCollisionSceneFromFile (const std::string &path, const Eigen::Affine3d &offset)
RVIZ_VISUAL_TOOLS_DEPRECATED bool loadEEMarker (const std::string &ee_group_name)
 Call this once at begining to load the robot marker.
bool loadEEMarker (const robot_model::JointModelGroup *ee_jmg)
 Call this once at begining to load the robot marker.
bool loadPlanningSceneMonitor ()
 Load a planning scene monitor if one was not passed into the constructor.
void loadRobotStatePub (const std::string &robot_state_topic="")
bool loadSharedRobotState ()
 Load robot state only as needed.
void loadTrajectoryPub (const std::string &display_planned_path_topic=DISPLAY_PLANNED_PATH_TOPIC)
 Load publishers as needed.
 MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic, planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
 Constructor.
 MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic=rviz_visual_tools::RVIZ_MARKER_TOPIC, robot_model::RobotModelConstPtr robot_model=robot_model::RobotModelConstPtr())
 Constructor.
bool processAttachedCollisionObjectMsg (const moveit_msgs::AttachedCollisionObject &msg)
 Skip a ROS message call by sending directly to planning scene monitor.
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.
bool publishAnimatedGrasp (const moveit_msgs::Grasp &grasp, const robot_model::JointModelGroup *ee_jmg, double animate_speed)
 Animate a single grasp in its movement direction.
bool publishAnimatedGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.01)
 Display an animated vector of grasps including its approach movement in Rviz.
bool publishCollisionBlock (const geometry_msgs::Pose &block_pose, const std::string &block_name, double block_size, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
 Create a MoveIt Collision block at the given pose.
bool publishCollisionCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std::string &name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
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 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.
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 Eigen::Affine3d &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.
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.
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.
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.
bool publishCollisionMesh (const Eigen::Affine3d &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 Eigen::Affine3d &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 shape_msgs::Mesh &mesh_msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
RVIZ_VISUAL_TOOLS_DEPRECATED bool publishCollisionRectangle (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std::string &name, const rviz_visual_tools::colors &color)
 Create a MoveIt collision rectangular cuboid at the given pose.
RVIZ_VISUAL_TOOLS_DEPRECATED bool publishCollisionRectangle (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std::string &name, const rviz_visual_tools::colors &color)
bool publishCollisionTable (double x, double y, 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.
RVIZ_VISUAL_TOOLS_DEPRECATED bool publishCollisionTests ()
 Simple tests for collision testing.
bool publishCollisionWall (double x, double y, double angle, double width, const std::string name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
 Publish a typical room wall.
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.
bool publishEEMarkers (const Eigen::Affine3d &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
 Publish an end effector to rviz.
bool publishEEMarkers (const geometry_msgs::Pose &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
bool publishGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.1)
 Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources.
bool publishIKSolutions (const std::vector< trajectory_msgs::JointTrajectoryPoint > &ik_solutions, const robot_model::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.
bool publishRobotState (const robot_state::RobotState &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
 Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above.
bool publishRobotState (const robot_state::RobotStatePtr &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
bool publishRobotState (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const robot_model::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.
bool publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::LinkModel *ee_parent_link, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color, bool clear_all_markers=false)
 Display a line of the end effector path from a robot trajectory path.
bool publishTrajectoryLine (const robot_trajectory::RobotTrajectoryPtr robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color, bool clear_all_markers)
bool publishTrajectoryPath (const std::vector< robot_state::RobotStatePtr > &trajectory, const moveit::core::JointModelGroup *jmg, double speed=0.01, bool blocking=false)
 Animate trajectory in rviz.
bool publishTrajectoryPath (const robot_trajectory::RobotTrajectory &trajectory, bool blocking=false)
bool publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, const robot_state::RobotStateConstPtr robot_state, bool blocking)
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.
bool publishTrajectoryPoints (const std::vector< robot_state::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.
bool publishWorkspaceParameters (const moveit_msgs::WorkspaceParameters &params)
 Display size of workspace used for planning with OMPL, etc. Important for virtual joints.
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.
void setManualSceneUpdating (bool enable_manual)
 Prevent the planning scene from always auto-pushing, but rather do it manually.
void setPlanningSceneMonitor (planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
 Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.
void setPlanningSceneTopic (const std::string &planning_scene_topic)
 Set the planning scene topic.
void setRobotStateTopic (const std::string &robot_state_topic)
 Set the ROS topic for publishing a robot state.
bool triggerPlanningSceneUpdate ()
 When mannual_trigger_update_ is true, use this to tell the planning scene to send an update out. Do not use otherwise.
 ~MoveItVisualTools ()
 Deconstructor.

Protected Attributes

std::map
< rviz_visual_tools::colors,
moveit_msgs::DisplayRobotState > 
display_robot_msgs_
std::map< const
robot_model::JointModelGroup
*, visualization_msgs::MarkerArray > 
ee_markers_map_
std::map< const
robot_model::JointModelGroup
*, EigenSTL::vector_Affine3d > 
ee_poses_map_
robot_state::RobotStatePtr hidden_robot_state_
bool mannual_trigger_update_
std::string name_
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
std::string planning_scene_topic_
ros::Publisher pub_display_path_
ros::Publisher pub_robot_state_
robot_model_loader::RobotModelLoaderPtr rm_loader_
robot_state::RobotModelConstPtr robot_model_
std::string robot_state_topic_
robot_state::RobotStatePtr shared_robot_state_

Private Member Functions

planning_scene_monitor::PlanningSceneMonitorPtr getPlanningSceneMonitor ()
 Get the planning scene monitor that this class is using.

Detailed Description

Definition at line 71 of file moveit_visual_tools.h.


Constructor & Destructor Documentation

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools ( const std::string &  base_frame,
const std::string &  marker_topic,
planning_scene_monitor::PlanningSceneMonitorPtr  planning_scene_monitor 
)

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 58 of file moveit_visual_tools.cpp.

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools ( const std::string &  base_frame,
const std::string &  marker_topic = rviz_visual_tools::RVIZ_MARKER_TOPIC,
robot_model::RobotModelConstPtr  robot_model = robot_model::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 70 of file moveit_visual_tools.cpp.

Deconstructor.

Definition at line 97 of file moveit_visual_tools.h.


Member Function Documentation

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:
Nameof object
\returntrue on sucess

Definition at line 595 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupACO ( const std::string &  name)

Remove an active collision object from the planning scene.

Parameters:
Nameof object
Returns:
true on sucess

Definition at line 582 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupCO ( const std::string &  name)

Remove a collision object from the planning scene.

Parameters:
Nameof object
Returns:
true on sucess

Definition at line 570 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::getCollisionWallMsg ( double  x,
double  y,
double  angle,
double  width,
const std::string  name,
moveit_msgs::CollisionObject &  collision_obj 
)

Helper for publishCollisionWall.

Definition at line 899 of file moveit_visual_tools.cpp.

Get the planning scene monitor that this class is using.

Returns:
a ptr to a planning scene

Definition at line 316 of file moveit_visual_tools.cpp.

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

Get a pointer to the robot model.

Returns:
const RobotModel

Definition at line 203 of file moveit_visual_tools.cpp.

Allow robot state to be altered.

Returns:
shared pointer to robot state

Definition at line 196 of file moveit_visual_tools.cpp.

Fake removing a Robot State display in Rviz by simply moving it very far away.

Returns:
true on success

Definition at line 1370 of file moveit_visual_tools.cpp.

Load a planning scene to a planning_scene_monitor from file.

Parameters:
path- path to planning scene, e.g. as exported from Rviz Plugin
offsetfor scene to be placed
Returns:
true on success

Definition at line 993 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile ( const std::string &  path,
const Eigen::Affine3d &  offset 
)

Definition at line 998 of file moveit_visual_tools.cpp.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::loadEEMarker ( const std::string &  ee_group_name) [inline]

Call this once at begining to load the robot marker.

Parameters:
ee_group_name- name of planning_group for the end effector
Returns:
true if it is successful

Definition at line 169 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::loadEEMarker ( const robot_model::JointModelGroup *  ee_jmg)

Call this once at begining to load the robot marker.

Parameters:
ee_jmg- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
Returns:
true if it is successful

Definition at line 210 of file moveit_visual_tools.cpp.

Load a planning scene monitor if one was not passed into the constructor.

Returns:
true if successful in loading

Definition at line 78 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadRobotStatePub ( const std::string &  robot_state_topic = "")

Definition at line 298 of file moveit_visual_tools.cpp.

Load robot state only as needed.

Returns:
true if successful in loading

Definition at line 171 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadTrajectoryPub ( const std::string &  display_planned_path_topic = DISPLAY_PLANNED_PATH_TOPIC)

Load publishers as needed.

Definition at line 283 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::processAttachedCollisionObjectMsg ( const moveit_msgs::AttachedCollisionObject &  msg)

Skip a ROS message call by sending directly to planning scene monitor.

Parameters:
attachedcollision object message
Returns:
true on success

Definition at line 144 of file moveit_visual_tools.cpp.

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:
collisionobject message
colorto display the collision object with
Returns:
true on success

Definition at line 125 of file moveit_visual_tools.cpp.

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

Animate a single grasp in its movement direction.

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 426 of file moveit_visual_tools.cpp.

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

Display an animated vector of grasps including its approach movement in Rviz.

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 404 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionBlock ( const geometry_msgs::Pose block_pose,
const std::string &  block_name,
double  block_size,
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
colorto display the collision object with
Returns:
true on sucess

Definition at line 611 of file moveit_visual_tools.cpp.

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 
)

Definition at line 636 of file moveit_visual_tools.cpp.

Definition at line 644 of file moveit_visual_tools.cpp.

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:
pointa - x,y,z in space of a point
pointb - x,y,z in space of a point
name- semantic name of MoveIt collision object
radius- size of cylinder
colorto display the collision object with
Returns:
true on sucess

Definition at line 707 of file moveit_visual_tools.cpp.

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 715 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder ( const Eigen::Affine3d &  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
colorto display the collision object with
Returns:
true on sucess

Definition at line 737 of file moveit_visual_tools.cpp.

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 745 of file moveit_visual_tools.cpp.

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:
zlocation of floor
nameof floor
colorto display the collision object with
Returns:
true on success

Definition at line 688 of file moveit_visual_tools.cpp.

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:
graphof nodes and edges
nameof collision object
colorto display the collision object with
Returns:
true on sucess

Definition at line 826 of file moveit_visual_tools.cpp.

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
colorto display the collision object with
Returns:
true on success

Definition at line 776 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh ( const Eigen::Affine3d &  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 768 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh ( const Eigen::Affine3d &  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 799 of file moveit_visual_tools.cpp.

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 807 of file moveit_visual_tools.cpp.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishCollisionRectangle ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const std::string &  name,
const rviz_visual_tools::colors color 
) [inline]

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
colorto display the collision object with
Returns:
true on sucess

Definition at line 319 of file moveit_visual_tools.h.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishCollisionRectangle ( const geometry_msgs::Point point1,
const geometry_msgs::Point point2,
const std::string &  name,
const rviz_visual_tools::colors color 
) [inline]

Definition at line 325 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionTable ( double  x,
double  y,
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
colorto display the collision object with
Returns:
true on sucess

Definition at line 953 of file moveit_visual_tools.cpp.

Simple tests for collision testing.

Returns:
true on success

Definition at line 1028 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionWall ( double  x,
double  y,
double  angle,
double  width,
const std::string  name,
const rviz_visual_tools::colors color = rviz_visual_tools::GREEN 
)

Publish a typical room wall.

Parameters:
x
y
angle
width
name
colorto display the collision object with
Returns:
true on sucess

Definition at line 943 of file moveit_visual_tools.cpp.

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 1036 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers ( const Eigen::Affine3d &  pose,
const robot_model::JointModelGroup *  ee_jmg,
const rviz_visual_tools::colors color = rviz_visual_tools::CLEAR,
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"
colorto display the collision object with
Returns:
true on success

Definition at line 211 of file moveit_visual_tools.h.

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

Definition at line 329 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishGrasps ( const std::vector< moveit_msgs::Grasp > &  possible_grasps,
const robot_model::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 382 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishIKSolutions ( const std::vector< trajectory_msgs::JointTrajectoryPoint > &  ik_solutions,
const robot_model::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 514 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState ( const robot_state::RobotState &  robot_state,
const rviz_visual_tools::colors color = rviz_visual_tools::DEFAULT 
)

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

Definition at line 1287 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState ( const robot_state::RobotStatePtr &  robot_state,
const rviz_visual_tools::colors color = rviz_visual_tools::DEFAULT 
)

Definition at line 1281 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState ( const trajectory_msgs::JointTrajectoryPoint &  trajectory_pt,
const robot_model::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_ptof 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 1353 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine ( const moveit_msgs::RobotTrajectory &  trajectory_msg,
const moveit::core::LinkModel ee_parent_link,
const robot_model::JointModelGroup *  arm_jmg,
const rviz_visual_tools::colors color,
bool  clear_all_markers = false 
)

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
clear_all_markers- optionally ability to delete all existing markers in Rviz before adding the trajectory path
Returns:
true on success

Definition at line 1199 of file moveit_visual_tools.cpp.

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,
bool  clear_all_markers 
)

Definition at line 1223 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath ( const std::vector< robot_state::RobotStatePtr > &  trajectory,
const moveit::core::JointModelGroup jmg,
double  speed = 0.01,
bool  blocking = false 
)

Animate trajectory in rviz.

Parameters:
trajectorythe actual plan
blockingwhether 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 1106 of file moveit_visual_tools.cpp.

Definition at line 1129 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath ( const moveit_msgs::RobotTrajectory &  trajectory_msg,
const robot_state::RobotStateConstPtr  robot_state,
bool  blocking 
)

Definition at line 1151 of file moveit_visual_tools.cpp.

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 1078 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPoints ( const std::vector< robot_state::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:
trajectorythe actual plan
color- display color of markers
Returns:
true on success

Definition at line 1266 of file moveit_visual_tools.cpp.

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:
displaybounds of workspace
Returns:
true on sucess

Definition at line 1030 of file moveit_visual_tools.cpp.

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:
thescene to directly clear the collision objects from
Returns:
true on sucess

Definition at line 559 of file moveit_visual_tools.cpp.

Prevent the planning scene from always auto-pushing, but rather do it manually.

Parameters:
booltrue to enable manual mode

Definition at line 199 of file moveit_visual_tools.h.

Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.

Parameters:
apointer to a load planning scen

Definition at line 190 of file moveit_visual_tools.h.

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

Set the planning scene topic.

Parameters:
topic

Definition at line 112 of file moveit_visual_tools.h.

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 103 of file moveit_visual_tools.h.

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 163 of file moveit_visual_tools.cpp.


Member Data Documentation

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

Definition at line 573 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup *, visualization_msgs::MarkerArray> moveit_visual_tools::MoveItVisualTools::ee_markers_map_ [protected]

Definition at line 567 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup *, EigenSTL::vector_Affine3d> moveit_visual_tools::MoveItVisualTools::ee_poses_map_ [protected]

Definition at line 568 of file moveit_visual_tools.h.

robot_state::RobotStatePtr moveit_visual_tools::MoveItVisualTools::hidden_robot_state_ [protected]

Definition at line 582 of file moveit_visual_tools.h.

Definition at line 585 of file moveit_visual_tools.h.

Reimplemented from rviz_visual_tools::RvizVisualTools.

Definition at line 556 of file moveit_visual_tools.h.

Definition at line 563 of file moveit_visual_tools.h.

Definition at line 589 of file moveit_visual_tools.h.

Definition at line 559 of file moveit_visual_tools.h.

Definition at line 560 of file moveit_visual_tools.h.

Definition at line 564 of file moveit_visual_tools.h.

robot_state::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::robot_model_ [protected]

Definition at line 576 of file moveit_visual_tools.h.

Definition at line 588 of file moveit_visual_tools.h.

robot_state::RobotStatePtr moveit_visual_tools::MoveItVisualTools::shared_robot_state_ [protected]

Definition at line 579 of file moveit_visual_tools.h.


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


moveit_visual_tools
Author(s): Dave Coleman
autogenerated on Sun Feb 21 2016 11:28:46