This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package. More...

#include <moveit_config_data.h>

Classes
struct	JointModelCompare
	Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order. More...

Public Types
enum	InformationFields { COLLISIONS = 1 << 1, VIRTUAL_JOINTS = 1 << 2, GROUPS = 1 << 3, GROUP_CONTENTS = 1 << 4, GROUP_KINEMATICS = 1 << 5, POSES = 1 << 6, END_EFFECTORS = 1 << 7, PASSIVE_JOINTS = 1 << 8, SIMULATION = 1 << 9, AUTHOR_INFO = 1 << 10, SENSORS_CONFIG = 1 << 11, SRDF = COLLISIONS \| VIRTUAL_JOINTS \| GROUPS \| GROUP_CONTENTS \| POSES \| END_EFFECTORS \| PASSIVE_JOINTS }

Public Member Functions
bool	addController (const ControllerConfig &new_controller)
	Adds a controller to controller_configs_ vector. More...

bool	addDefaultControllers (const std::string &controller_type="effort_controllers/JointTrajectoryController")
	Add a Follow Joint Trajectory action Controller for each Planning Group. More...

void	addGenericParameterToSensorPluginConfig (const std::string &name, const std::string &value="", const std::string &comment="")
	Used for adding a sensor plugin configuation prameter to the sensor plugin configuration parameter list. More...

std::string	appendPaths (const std::string &path1, const std::string &path2)

void	clearSensorPluginConfig ()
	Clear the sensor plugin configuration parameter list. More...

bool	createFullSRDFPath (const std::string &package_path)
	Make the full SRDF path using the loaded .setup_assistant data. More...

bool	createFullURDFPath ()
	Make the full URDF path using the loaded .setup_assistant data. More...

std::string	decideProjectionJoints (const std::string &planning_group)
	Decide the best two joints to be used for the projection evaluator. More...

bool	deleteController (const std::string &controller_name)

bool	extractPackageNameFromPath (const std::string &path, std::string &package_name, std::string &relative_filepath) const

ControllerConfig *	findControllerByName (const std::string &controller_name)

srdf::Model::Group *	findGroupByName (const std::string &name)

std::vector< ControllerConfig > &	getControllers ()
	Gets controller_configs_ vector. More...

srdf::Model::GroupState	getDefaultStartPose ()
	Helper function to get the default start pose for moveit_sim_hw_interface. More...

std::map< std::string, double >	getInitialJoints () const

std::string	getJointHardwareInterface (const std::string &joint_name)
	Helper function to get the controller that is controlling the joint. More...

std::vector< OMPLPlannerDescription >	getOMPLPlanners () const

planning_scene::PlanningScenePtr	getPlanningScene ()
	Provide a shared planning scene. More...

moveit::core::RobotModelConstPtr	getRobotModel ()
	Provide a shared kinematic model loader. More...

const std::vector< std::map< std::string, GenericParameter > > &	getSensorPluginConfig () const
	Used for adding a sensor plugin configuation parameter to the sensor plugin configuration parameter list. More...

bool	getSetupAssistantYAMLPath (std::string &path)

void	input3DSensorsYAML (const std::string &file_path)
	Load perception sensor config (sensors_3d.yaml) into internal data structure. More...

bool	inputKinematicsYAML (const std::string &file_path)

bool	inputOMPLYAML (const std::string &file_path)

bool	inputPlanningContextLaunch (const std::string &file_path)

bool	inputROSControllersYAML (const std::string &file_path)

bool	inputSetupAssistantYAML (const std::string &file_path)

void	loadAllowedCollisionMatrix (const srdf::SRDFWriter &srdf)
	Load the allowed collision matrix from the SRDF's list of link pairs. More...

	MoveItConfigData ()

bool	output3DSensorPluginYAML (const std::string &file_path)

bool	outputFakeControllersYAML (const std::string &file_path)

bool	outputGazeboURDFFile (const std::string &file_path)

bool	outputJointLimitsYAML (const std::string &file_path)

bool	outputKinematicsYAML (const std::string &file_path)

bool	outputOMPLPlanningYAML (const std::string &file_path)

bool	outputROSControllersYAML (const std::string &file_path)

bool	outputSetupAssistantFile (const std::string &file_path)

bool	outputSimpleControllersYAML (const std::string &file_path)

bool	outputSTOMPPlanningYAML (const std::string &file_path)

bool	parseROSController (const YAML::Node &controller)

bool	processROSControllers (std::ifstream &input_stream)

bool	setPackagePath (const std::string &pkg_path)

void	setRobotModel (const moveit::core::RobotModelPtr &robot_model)
	Load a robot model. More...

void	updateRobotModel ()
	Update the Kinematic Model with latest SRDF modifications. More...

	~MoveItConfigData ()

Static Public Member Functions
static std::vector< std::map< std::string, GenericParameter > >	load3DSensorsYAML (const std::string &file_path)
	Load perception sensor config. More...

Public Attributes
collision_detection::AllowedCollisionMatrix	allowed_collision_matrix_
	Allowed collision matrix for robot poses. More...

std::string	author_email_
	Email of the author of this config. More...

std::string	author_name_
	Name of the author of this config. More...

unsigned long	changes

std::time_t	config_pkg_generated_timestamp_
	Timestamp when configuration package was generated, if it was previously generated. More...

std::string	config_pkg_path_
	Loaded configuration package path - if an existing package was loaded, holds that path. More...

bool	debug_
	Is this application in debug mode? More...

std::string	gazebo_urdf_string_
	Gazebo URDF robot model string. More...

std::map< std::string, GroupMetaData >	group_meta_data_
	Planning groups extra data not found in srdf but used in config files. More...

std::string	setup_assistant_path_
	Setup Assistants package's path for when we use its templates. More...

srdf::SRDFWriterPtr	srdf_
	SRDF Data and Writer. More...

std::string	srdf_path_
	Full file-system path to srdf. More...

std::string	srdf_pkg_relative_path_
	Path relative to loaded configuration package. More...

std::string	template_package_path_
	Location that moveit_setup_assistant stores its templates. More...

bool	urdf_from_xacro_
	Flag indicating whether the URDF was loaded from .xacro format. More...

urdf::ModelSharedPtr	urdf_model_
	URDF robot model. More...

std::string	urdf_path_
	Full file-system path to urdf. More...

std::string	urdf_pkg_name_
	Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg) More...

std::string	urdf_pkg_relative_path_
	Path relative to urdf package (note: this may be same as urdf_path_) More...

std::string	urdf_string_
	URDF robot model string. More...

std::string	xacro_args_
	xacro arguments More...

Private Attributes
std::vector< ControllerConfig >	controller_configs_
	Controllers config data. More...

planning_scene::PlanningScenePtr	planning_scene_
	Shared planning scene. More...

moveit::core::RobotModelPtr	robot_model_
	Shared kinematic model. More...

std::vector< std::map< std::string, GenericParameter > >	sensors_plugin_config_parameter_list_
	Sensor plugin configuration parameter list, each sensor plugin type is a map. More...

Detailed Description

This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package.

All SRDF data is contained in a subclass of this class - srdf_writer.cpp. This class also contains the functions for writing out the configuration files.

Definition at line 219 of file moveit_config_data.h.

Member Enumeration Documentation

◆ InformationFields

enum moveit_setup_assistant::MoveItConfigData::InformationFields

Enumerator
COLLISIONS
VIRTUAL_JOINTS
GROUPS
GROUP_CONTENTS
GROUP_KINEMATICS
POSES
END_EFFECTORS
PASSIVE_JOINTS
SIMULATION
AUTHOR_INFO
SENSORS_CONFIG
SRDF

Definition at line 226 of file moveit_config_data.h.

Constructor & Destructor Documentation

◆ MoveItConfigData()

MoveItConfigData::MoveItConfigData ( )

Definition at line 95 of file moveit_config_data.cpp.

◆ ~MoveItConfigData()

MoveItConfigData::~MoveItConfigData ( )

default

Member Function Documentation

◆ addController()

bool MoveItConfigData::addController ( const ControllerConfig & new_controller )

Adds a controller to controller_configs_ vector.

Parameters

new_controller a new Controller to add

Returns: true if inserted correctly

Definition at line 1987 of file moveit_config_data.cpp.

◆ addDefaultControllers()

bool MoveItConfigData::addDefaultControllers ( const std::string & controller_type = "effort_controllers/JointTrajectoryController" )

Add a Follow Joint Trajectory action Controller for each Planning Group.

Returns: true if controllers were added to the controller_configs_ data structure

Definition at line 1644 of file moveit_config_data.cpp.

◆ addGenericParameterToSensorPluginConfig()

void MoveItConfigData::addGenericParameterToSensorPluginConfig	(	const std::string &	name,
		const std::string &	value = `""`,
		const std::string &	comment = `""`
	)

Used for adding a sensor plugin configuation prameter to the sensor plugin configuration parameter list.

Definition at line 2002 of file moveit_config_data.cpp.

◆ appendPaths()

std::string MoveItConfigData::appendPaths	(	const std::string &	path1,
		const std::string &	path2
	)

Helper Function for joining a file path and a file name, or two file paths, etc, in a cross-platform way

Parameters

path1	first half of path
path2	second half of path, or filename

Returns: string resulting combined paths

Definition at line 1921 of file moveit_config_data.cpp.

◆ clearSensorPluginConfig()

void MoveItConfigData::clearSensorPluginConfig ( )

Clear the sensor plugin configuration parameter list.

Definition at line 2016 of file moveit_config_data.cpp.

◆ createFullSRDFPath()

bool MoveItConfigData::createFullSRDFPath ( const std::string & package_path )

Make the full SRDF path using the loaded .setup_assistant data.

Definition at line 1789 of file moveit_config_data.cpp.

◆ createFullURDFPath()

bool MoveItConfigData::createFullURDFPath ( )

Make the full URDF path using the loaded .setup_assistant data.

Definition at line 1757 of file moveit_config_data.cpp.

◆ decideProjectionJoints()

std::string MoveItConfigData::decideProjectionJoints ( const std::string & planning_group )

Decide the best two joints to be used for the projection evaluator.

Parameters

planning_group name of group to use

Returns: string - value to insert into yaml file

Definition at line 1335 of file moveit_config_data.cpp.

◆ deleteController()

bool MoveItConfigData::deleteController ( const std::string & controller_name )

Delete controller by name

Parameters

controller_name - name of controller to delete

Returns: true if deleted, false if not found

Definition at line 1969 of file moveit_config_data.cpp.

◆ extractPackageNameFromPath()

bool MoveItConfigData::extractPackageNameFromPath	(	const std::string &	path,
		std::string &	package_name,
		std::string &	relative_filepath
	)		const

determine the package name containing a given file path

Parameters

path	to a file
package_name	holds the ros package name if found
relative_filepath	holds the relative path of the file to the package root

Returns: whether the file belongs to a known package

Definition at line 1707 of file moveit_config_data.cpp.

◆ findControllerByName()

ControllerConfig * MoveItConfigData::findControllerByName ( const std::string & controller_name )

Find the associated controller by name

Parameters

controller_name - name of controller to find in datastructure

Returns: pointer to data in datastructure

Definition at line 1954 of file moveit_config_data.cpp.

◆ findGroupByName()

srdf::Model::Group * MoveItConfigData::findGroupByName ( const std::string & name )

Find the associated group by name

Parameters

name	- name of data to find in datastructure

Returns: pointer to data in datastructure

Definition at line 1928 of file moveit_config_data.cpp.

◆ getControllers()

std::vector<ControllerConfig>& moveit_setup_assistant::MoveItConfigData::getControllers ( )

inline

Gets controller_configs_ vector.

Returns: pointer to controller_configs_

Definition at line 485 of file moveit_config_data.h.

◆ getDefaultStartPose()

srdf::Model::GroupState MoveItConfigData::getDefaultStartPose ( )

Helper function to get the default start pose for moveit_sim_hw_interface.

Definition at line 1036 of file moveit_config_data.cpp.

◆ getInitialJoints()

std::map< std::string, double > MoveItConfigData::getInitialJoints ( ) const

Definition at line 665 of file moveit_config_data.cpp.

◆ getJointHardwareInterface()

std::string MoveItConfigData::getJointHardwareInterface ( const std::string & joint_name )

Helper function to get the controller that is controlling the joint.

Returns: controller type

Definition at line 550 of file moveit_config_data.cpp.

◆ getOMPLPlanners()

std::vector< OMPLPlannerDescription > MoveItConfigData::getOMPLPlanners ( ) const

Definition at line 687 of file moveit_config_data.cpp.

◆ getPlanningScene()

planning_scene::PlanningScenePtr MoveItConfigData::getPlanningScene ( )

Provide a shared planning scene.

Definition at line 159 of file moveit_config_data.cpp.

◆ getRobotModel()

moveit::core::RobotModelConstPtr MoveItConfigData::getRobotModel ( )

Provide a shared kinematic model loader.

Definition at line 128 of file moveit_config_data.cpp.

◆ getSensorPluginConfig()

const std::vector<std::map<std::string, GenericParameter> >& moveit_setup_assistant::MoveItConfigData::getSensorPluginConfig ( ) const

inline

Used for adding a sensor plugin configuation parameter to the sensor plugin configuration parameter list.

Definition at line 520 of file moveit_config_data.h.

◆ getSetupAssistantYAMLPath()

bool MoveItConfigData::getSetupAssistantYAMLPath ( std::string & path )

Resolve path to .setup_assistant file

Parameters

path	resolved path

Returns: true if the path could be resolved

Definition at line 1746 of file moveit_config_data.cpp.

◆ input3DSensorsYAML()

void MoveItConfigData::input3DSensorsYAML ( const std::string & file_path )

Load perception sensor config (sensors_3d.yaml) into internal data structure.

Definition at line 1855 of file moveit_config_data.cpp.

◆ inputKinematicsYAML()

bool MoveItConfigData::inputKinematicsYAML ( const std::string & file_path )

Input kinematics.yaml file for editing its values

Parameters

file_path path to kinematics.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1423 of file moveit_config_data.cpp.

◆ inputOMPLYAML()

bool MoveItConfigData::inputOMPLYAML ( const std::string & file_path )

Input ompl_planning.yaml file for editing its values

Parameters

file_path path to ompl_planning.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1375 of file moveit_config_data.cpp.

◆ inputPlanningContextLaunch()

bool MoveItConfigData::inputPlanningContextLaunch ( const std::string & file_path )

Input planning_context.launch for editing its values

Parameters

file_path path to planning_context.launch in the input package

Returns: true if the file was read correctly

Definition at line 1474 of file moveit_config_data.cpp.

◆ inputROSControllersYAML()

bool MoveItConfigData::inputROSControllersYAML ( const std::string & file_path )

Input ros_controllers.yaml file for editing its values

Parameters

file_path path to ros_controllers.yaml in the input package

Returns: true if the file was read correctly

Definition at line 1617 of file moveit_config_data.cpp.

◆ inputSetupAssistantYAML()

bool MoveItConfigData::inputSetupAssistantYAML ( const std::string & file_path )

Input .setup_assistant file - contains data used for the MoveIt Setup Assistant

Parameters

file_path path to .setup_assistant file

Returns: true if the file was read correctly

Definition at line 1799 of file moveit_config_data.cpp.

◆ load3DSensorsYAML()

std::vector< std::map< std::string, GenericParameter > > MoveItConfigData::load3DSensorsYAML ( const std::string & file_path )

static

Load perception sensor config.

Definition at line 1863 of file moveit_config_data.cpp.

◆ loadAllowedCollisionMatrix()

void MoveItConfigData::loadAllowedCollisionMatrix ( const srdf::SRDFWriter & srdf )

Load the allowed collision matrix from the SRDF's list of link pairs.

Definition at line 175 of file moveit_config_data.cpp.

◆ output3DSensorPluginYAML()

bool MoveItConfigData::output3DSensorPluginYAML ( const std::string & file_path )

Definition at line 1198 of file moveit_config_data.cpp.

◆ outputFakeControllersYAML()

bool MoveItConfigData::outputFakeControllersYAML ( const std::string & file_path )

Definition at line 571 of file moveit_config_data.cpp.

◆ outputGazeboURDFFile()

bool MoveItConfigData::outputGazeboURDFFile ( const std::string & file_path )

Definition at line 248 of file moveit_config_data.cpp.

◆ outputJointLimitsYAML()

bool MoveItConfigData::outputJointLimitsYAML ( const std::string & file_path )

Definition at line 1238 of file moveit_config_data.cpp.

◆ outputKinematicsYAML()

bool MoveItConfigData::outputKinematicsYAML ( const std::string & file_path )

Definition at line 489 of file moveit_config_data.cpp.

◆ outputOMPLPlanningYAML()

bool MoveItConfigData::outputOMPLPlanningYAML ( const std::string & file_path )

Definition at line 266 of file moveit_config_data.cpp.

◆ outputROSControllersYAML()

bool MoveItConfigData::outputROSControllersYAML ( const std::string & file_path )

Definition at line 1047 of file moveit_config_data.cpp.

◆ outputSetupAssistantFile()

bool MoveItConfigData::outputSetupAssistantFile ( const std::string & file_path )

SRDF Path Location

Package generation time

Update the parsed setup_assistant timestamp

Definition at line 193 of file moveit_config_data.cpp.

◆ outputSimpleControllersYAML()

bool MoveItConfigData::outputSimpleControllersYAML ( const std::string & file_path )

Definition at line 983 of file moveit_config_data.cpp.

◆ outputSTOMPPlanningYAML()

bool MoveItConfigData::outputSTOMPPlanningYAML ( const std::string & file_path )

Definition at line 346 of file moveit_config_data.cpp.

◆ parseROSController()

bool MoveItConfigData::parseROSController ( const YAML::Node & controller )

Helper function for parsing ros_controllers.yaml file

Parameters

YAML::Node - individual controller to be parsed

Returns: true if the file was read correctly

Definition at line 1515 of file moveit_config_data.cpp.

◆ processROSControllers()

bool MoveItConfigData::processROSControllers ( std::ifstream & input_stream )

Helper function for parsing ros_controllers.yaml file

Parameters

std::ifstream of ros_controller.yaml

Returns: true if the file was read correctly

Definition at line 1561 of file moveit_config_data.cpp.

◆ setPackagePath()

bool MoveItConfigData::setPackagePath ( const std::string & pkg_path )

Set package path; try to resolve path from package name if directory does not exist

Parameters

pkg_path path to package or package name

Returns: true if the path was set

Definition at line 1676 of file moveit_config_data.cpp.

◆ setRobotModel()

void MoveItConfigData::setRobotModel ( const moveit::core::RobotModelPtr & robot_model )

Load a robot model.

Definition at line 120 of file moveit_config_data.cpp.

◆ updateRobotModel()

void MoveItConfigData::updateRobotModel ( )

Update the Kinematic Model with latest SRDF modifications.

Definition at line 142 of file moveit_config_data.cpp.

Member Data Documentation

◆ allowed_collision_matrix_

collision_detection::AllowedCollisionMatrix moveit_setup_assistant::MoveItConfigData::allowed_collision_matrix_

Allowed collision matrix for robot poses.

Definition at line 306 of file moveit_config_data.h.

◆ author_email_

std::string moveit_setup_assistant::MoveItConfigData::author_email_

Email of the author of this config.

Definition at line 315 of file moveit_config_data.h.

◆ author_name_

std::string moveit_setup_assistant::MoveItConfigData::author_name_

Name of the author of this config.

Definition at line 312 of file moveit_config_data.h.

◆ changes

unsigned long moveit_setup_assistant::MoveItConfigData::changes

Definition at line 241 of file moveit_config_data.h.

◆ config_pkg_generated_timestamp_

std::time_t moveit_setup_assistant::MoveItConfigData::config_pkg_generated_timestamp_

Timestamp when configuration package was generated, if it was previously generated.

Definition at line 309 of file moveit_config_data.h.

◆ config_pkg_path_

std::string moveit_setup_assistant::MoveItConfigData::config_pkg_path_

Loaded configuration package path - if an existing package was loaded, holds that path.

Definition at line 297 of file moveit_config_data.h.

◆ controller_configs_

std::vector<ControllerConfig> moveit_setup_assistant::MoveItConfigData::controller_configs_

private

Controllers config data.

Definition at line 556 of file moveit_config_data.h.

◆ debug_

bool moveit_setup_assistant::MoveItConfigData::debug_

Is this application in debug mode?

Definition at line 303 of file moveit_config_data.h.

◆ gazebo_urdf_string_

std::string moveit_setup_assistant::MoveItConfigData::gazebo_urdf_string_

Gazebo URDF robot model string.

Definition at line 271 of file moveit_config_data.h.

◆ group_meta_data_

std::map<std::string, GroupMetaData> moveit_setup_assistant::MoveItConfigData::group_meta_data_

Planning groups extra data not found in srdf but used in config files.

Definition at line 291 of file moveit_config_data.h.

◆ planning_scene_

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::planning_scene_

private

Shared planning scene.

Definition at line 559 of file moveit_config_data.h.

◆ robot_model_

moveit::core::RobotModelPtr moveit_setup_assistant::MoveItConfigData::robot_model_

private

Shared kinematic model.

Definition at line 553 of file moveit_config_data.h.

◆ sensors_plugin_config_parameter_list_

std::vector<std::map<std::string, GenericParameter> > moveit_setup_assistant::MoveItConfigData::sensors_plugin_config_parameter_list_

private

Sensor plugin configuration parameter list, each sensor plugin type is a map.

Definition at line 550 of file moveit_config_data.h.

◆ setup_assistant_path_

std::string moveit_setup_assistant::MoveItConfigData::setup_assistant_path_

Setup Assistants package's path for when we use its templates.

Definition at line 294 of file moveit_config_data.h.

◆ srdf_

srdf::SRDFWriterPtr moveit_setup_assistant::MoveItConfigData::srdf_

SRDF Data and Writer.

Definition at line 284 of file moveit_config_data.h.

◆ srdf_path_

std::string moveit_setup_assistant::MoveItConfigData::srdf_path_

Full file-system path to srdf.

Definition at line 278 of file moveit_config_data.h.

◆ srdf_pkg_relative_path_

std::string moveit_setup_assistant::MoveItConfigData::srdf_pkg_relative_path_

Path relative to loaded configuration package.

Definition at line 281 of file moveit_config_data.h.

◆ template_package_path_

std::string moveit_setup_assistant::MoveItConfigData::template_package_path_

Location that moveit_setup_assistant stores its templates.

Definition at line 300 of file moveit_config_data.h.

◆ urdf_from_xacro_

bool moveit_setup_assistant::MoveItConfigData::urdf_from_xacro_

Flag indicating whether the URDF was loaded from .xacro format.

Definition at line 259 of file moveit_config_data.h.

◆ urdf_model_

urdf::ModelSharedPtr moveit_setup_assistant::MoveItConfigData::urdf_model_

URDF robot model.

Definition at line 264 of file moveit_config_data.h.

◆ urdf_path_

std::string moveit_setup_assistant::MoveItConfigData::urdf_path_

Full file-system path to urdf.

Definition at line 250 of file moveit_config_data.h.

◆ urdf_pkg_name_

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_name_

Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)

Definition at line 253 of file moveit_config_data.h.

◆ urdf_pkg_relative_path_

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_relative_path_

Path relative to urdf package (note: this may be same as urdf_path_)

Definition at line 256 of file moveit_config_data.h.

◆ urdf_string_

std::string moveit_setup_assistant::MoveItConfigData::urdf_string_

URDF robot model string.

Definition at line 267 of file moveit_config_data.h.

◆ xacro_args_

std::string moveit_setup_assistant::MoveItConfigData::xacro_args_

xacro arguments

Definition at line 261 of file moveit_config_data.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ InformationFields

Constructor & Destructor Documentation

◆ MoveItConfigData()

◆ ~MoveItConfigData()

Member Function Documentation

◆ addController()

◆ addDefaultControllers()

◆ addGenericParameterToSensorPluginConfig()

◆ appendPaths()

◆ clearSensorPluginConfig()

◆ createFullSRDFPath()

◆ createFullURDFPath()

◆ decideProjectionJoints()

◆ deleteController()

◆ extractPackageNameFromPath()

◆ findControllerByName()

◆ findGroupByName()

◆ getControllers()

◆ getDefaultStartPose()

◆ getInitialJoints()

◆ getJointHardwareInterface()

◆ getOMPLPlanners()

◆ getPlanningScene()

◆ getRobotModel()

◆ getSensorPluginConfig()

◆ getSetupAssistantYAMLPath()

◆ input3DSensorsYAML()

◆ inputKinematicsYAML()

◆ inputOMPLYAML()

◆ inputPlanningContextLaunch()

◆ inputROSControllersYAML()

◆ inputSetupAssistantYAML()

◆ load3DSensorsYAML()

◆ loadAllowedCollisionMatrix()

◆ output3DSensorPluginYAML()

◆ outputFakeControllersYAML()

◆ outputGazeboURDFFile()

◆ outputJointLimitsYAML()

◆ outputKinematicsYAML()

◆ outputOMPLPlanningYAML()

◆ outputROSControllersYAML()

◆ outputSetupAssistantFile()

◆ outputSimpleControllersYAML()

◆ outputSTOMPPlanningYAML()

◆ parseROSController()

◆ processROSControllers()

◆ setPackagePath()

◆ setRobotModel()

◆ updateRobotModel()

Member Data Documentation

◆ allowed_collision_matrix_

◆ author_email_

◆ author_name_

◆ changes

◆ config_pkg_generated_timestamp_

◆ config_pkg_path_

◆ controller_configs_

◆ debug_

◆ gazebo_urdf_string_

◆ group_meta_data_

◆ planning_scene_

◆ robot_model_

◆ sensors_plugin_config_parameter_list_

◆ setup_assistant_path_

◆ srdf_

◆ srdf_path_

◆ srdf_pkg_relative_path_

◆ template_package_path_

◆ urdf_from_xacro_

◆ urdf_model_

◆ urdf_path_

◆ urdf_pkg_name_