A class for managing the state of the planning scene. More...
Public Member Functions | |
def | __init__ |
def | addBox |
Insert new box into planning scene. | |
def | addCube |
Insert new cube to planning scene. | |
def | addCylinder |
Insert new cylinder into planning scene. | |
def | addMesh |
Insert a mesh into the planning scene. | |
def | addSolidPrimitive |
Insert a solid primitive into planning scene. | |
def | attachBox |
Attach a box into the planning scene. | |
def | attachMesh |
Attach a mesh into the planning scene. | |
def | clear |
Clear the planning scene of all objects. | |
def | getKnownAttachedObjects |
Get a list of names of attached objects. | |
def | getKnownCollisionObjects |
Get a list of names of collision objects. | |
def | makeAttached |
Make an attachedCollisionObject. | |
def | makeMesh |
Make a mesh collision object. | |
def | makeSolidPrimitive |
Make a solid primitive collision object. | |
def | removeAttachedObject |
Send message to remove object. | |
def | removeCollisionObject |
Send message to remove object. | |
def | sceneCb |
Update the object lists from a PlanningScene message. | |
def | sendColors |
Actually send the colors to MoveIt! | |
def | sendUpdate |
Send new update to planning scene. | |
def | setColor |
Set the color of an object. | |
def | waitForSync |
Wait for sync. | |
Private Attributes | |
_apply_service | |
_attached | |
_attached_objects | |
_attached_removed | |
_collision | |
_colors | |
_fixed_frame | |
_mutex | |
_objects | |
_removed | |
_scene_pub | |
_service |
A class for managing the state of the planning scene.
frame | The fixed frame in which planning is being done (needs to be part of robot?) |
ns | A namespace to push all topics down into. |
init_from_service | Whether to initialize our list of objects by calling the service NOTE: this requires that said service be in the move_group launch file, which is not the default from the setup assistant. |
Definition at line 51 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.__init__ | ( | self, | |
frame, | |||
ns = '' , |
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init_from_service = True |
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) |
Definition at line 52 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.addBox | ( | self, | |
name, | |||
size_x, | |||
size_y, | |||
size_z, | |||
x, | |||
y, | |||
z, | |||
use_service = True |
|||
) |
Insert new box into planning scene.
name | Name of the object |
size_x | The x-dimensions size of the box |
size_y | The y-dimensions size of the box |
size_z | The z-dimensions size of the box |
x | The x position in link_name frame |
y | The y position in link_name frame |
z | The z position in link_name frame |
use_service | If true, update will be sent via apply service |
Definition at line 249 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.addCube | ( | self, | |
name, | |||
size, | |||
x, | |||
y, | |||
z, | |||
use_service = True |
|||
) |
Insert new cube to planning scene.
use_service | If true, update will be sent via apply service |
Definition at line 294 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.addCylinder | ( | self, | |
name, | |||
height, | |||
radius, | |||
x, | |||
y, | |||
z, | |||
use_service = True |
|||
) |
Insert new cylinder into planning scene.
use_service | If true, update will be sent via apply service |
Definition at line 226 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.addMesh | ( | self, | |
name, | |||
pose, | |||
filename, | |||
use_service = True |
|||
) |
Insert a mesh into the planning scene.
name | Name of the object |
pose | A geometry_msgs/Pose for the object |
filename | The mesh file to load |
use_service | If true, update will be sent via apply service |
Definition at line 198 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.addSolidPrimitive | ( | self, | |
name, | |||
solid, | |||
pose, | |||
use_service = True |
|||
) |
Insert a solid primitive into planning scene.
use_service | If true, update will be sent via apply service |
Definition at line 219 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.attachBox | ( | self, | |
name, | |||
size_x, | |||
size_y, | |||
size_z, | |||
x, | |||
y, | |||
z, | |||
link_name, | |||
touch_links = None , |
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detach_posture = None , |
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weight = 0.0 , |
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use_service = True |
|||
) |
Attach a box into the planning scene.
name | Name of the object |
size_x | The x-dimensions size of the box |
size_y | The y-dimensions size of the box |
size_z | The z-dimensions size of the box |
x | The x position in link_name frame |
y | The y position in link_name frame |
z | The z position in link_name frame |
link_name | Name of link to attach this object to |
touch_links | Names of robot links that can touch this object |
use_service | If true, update will be sent via apply service |
Definition at line 274 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.attachMesh | ( | self, | |
name, | |||
pose, | |||
filename, | |||
link_name, | |||
touch_links = None , |
|||
detach_posture = None , |
|||
weight = 0.0 , |
|||
use_service = True |
|||
) |
Attach a mesh into the planning scene.
name | Name of the object |
pose | A geometry_msgs/Pose for the object |
filename | The mesh file to load |
use_service | If true, update will be sent via apply service |
Definition at line 208 of file planning_scene_interface.py.
Clear the planning scene of all objects.
Definition at line 121 of file planning_scene_interface.py.
Get a list of names of attached objects.
Definition at line 369 of file planning_scene_interface.py.
Get a list of names of collision objects.
Definition at line 362 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.makeAttached | ( | self, | |
link_name, | |||
obj, | |||
touch_links, | |||
detach_posture, | |||
weight | |||
) |
Make an attachedCollisionObject.
Definition at line 181 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.makeMesh | ( | self, | |
name, | |||
pose, | |||
filename | |||
) |
Make a mesh collision object.
name | Name of the object |
pose | A geometry_msgs/Pose for the object |
filename | The mesh file to load |
Definition at line 132 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.makeSolidPrimitive | ( | self, | |
name, | |||
solid, | |||
pose | |||
) |
Make a solid primitive collision object.
name | Name of the object |
solid | The solid primitive to add |
pose | A geometry_msgs/Pose for the object |
Definition at line 170 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.removeAttachedObject | ( | self, | |
name, | |||
use_service = True |
|||
) |
Send message to remove object.
use_service | If true, update will be sent via apply service Remove an attached object. |
Definition at line 317 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.removeCollisionObject | ( | self, | |
name, | |||
use_service = True |
|||
) |
Send message to remove object.
use_service | If true, update will be sent via apply service Remove an object. |
Definition at line 299 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.sceneCb | ( | self, | |
msg, | |||
initial = False |
|||
) |
Update the object lists from a PlanningScene message.
Recieve updates from move_group.
Definition at line 332 of file planning_scene_interface.py.
Actually send the colors to MoveIt!
Definition at line 424 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.sendUpdate | ( | self, | |
collision_object, | |||
attached_collision_object, | |||
use_service = True |
|||
) |
Send new update to planning scene.
collision_object | A collision object to add to scene, or None |
attached_collision_object | Attached collision object to add to scene, or None |
use_service | If true, update will be sent via apply service, otherwise by topic |
Definition at line 104 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.setColor | ( | self, | |
name, | |||
r, | |||
g, | |||
b, | |||
a = 0.9 |
|||
) |
Set the color of an object.
Definition at line 413 of file planning_scene_interface.py.
def moveit_python.planning_scene_interface.PlanningSceneInterface.waitForSync | ( | self, | |
max_time = 2.0 |
|||
) |
Wait for sync.
Definition at line 376 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.
Definition at line 52 of file planning_scene_interface.py.