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40 #include <QTreeWidgetItem>
41 #include <QListWidgetItem>
52 #include <moveit_msgs/MotionPlanRequest.h>
54 #include <object_recognition_msgs/ObjectRecognitionAction.h>
56 #include <std_msgs/Bool.h>
57 #include <std_msgs/Empty.h>
71 class MotionPlanningUI;
83 class MotionPlanningDisplay;
84 class MotionPlanningFrameJointsWidget;
127 Ui::MotionPlanningUI*
ui_;
260 visualization_msgs::InteractiveMarker
296 std::unique_ptr<actionlib::SimpleActionClient<object_recognition_msgs::ObjectRecognitionAction> >
298 template <
typename T>
338 template <
typename T>
341 ROS_DEBUG(
"Waiting for MoveGroup action server (%s)...",
name.c_str());
355 while (
ros::ok() && !action->isServerConnected())
372 if (!action->isServerConnected())
373 throw std::runtime_error(
"Unable to connect to move_group action server within allotted time");
void deleteQueryButtonClicked()
void sceneScaleChanged(int value)
static const std::string TAB_STATES
void planningGroupTextChanged(const QString &planning_group)
std::map< std::string, std::string > pick_object_name_
void selectedDetectedObjectChanged()
void remoteUpdateCustomGoalStateCallback(const moveit_msgs::RobotStateConstPtr &msg)
void populatePlannersList(const std::vector< moveit_msgs::PlannerInterfaceDescription > &desc)
void computeSaveQueryButtonClicked(const std::string &scene, const std::string &query_name)
void remotePlanCallback(const std_msgs::EmptyConstPtr &msg)
void pickObjectButtonClicked()
void loadStoredStates(const std::string &pattern)
void fillPlanningGroupOptions()
void databaseConnectButtonClicked()
void sceneScaleEndChange()
std::vector< Eigen::Isometry3d, Eigen::aligned_allocator< Eigen::Isometry3d > > vector_Isometry3d
void saveStartStateButtonClicked()
void populateRobotStatesList()
void computeLoadSceneButtonClicked()
void attachDetachCollisionObject(QListWidgetItem *item)
void computeExecuteButtonClicked()
void remoteUpdateCustomStartStateCallback(const moveit_msgs::RobotStateConstPtr &msg)
bool isLocalSceneDirty() const
moveit_warehouse::RobotStateStoragePtr robot_state_storage_
visualization_msgs::InteractiveMarker createObjectMarkerMsg(const collision_detection::CollisionEnv::ObjectConstPtr &obj)
void changePlanningGroupHelper()
std::pair< std::string, moveit_msgs::RobotState > RobotStatePair
static const std::string TAB_STATUS
MotionPlanningFrame(const MotionPlanningFrame &)=delete
moveit::core::FixedTransformsMap scaled_object_subframes_
moveit::planning_interface::MoveGroupInterface::PlanPtr current_plan_
ros::ServiceClient clear_octomap_service_client_
void planningSceneItemClicked()
void changePlanningGroup()
void shapesComboBoxChanged(const QString &text)
void setAsStartStateButtonClicked()
void remoteUpdateGoalStateCallback(const std_msgs::EmptyConstPtr &msg)
void updateSceneMarkers(float wall_dt, float ros_dt)
void exportGeometryAsTextButtonClicked()
std::string support_surface_name_
ROSCPP_DECL void spinOnce()
void removeStateButtonClicked()
void planningAlgorithmIndexChanged(int index)
void collisionObjectChanged(QListWidgetItem *item)
moveit_warehouse::ConstraintsStoragePtr constraints_storage_
void executeButtonClicked()
void configureWorkspace()
static const std::string TAB_CONTEXT
void startStateTextChangedExec(const std::string &start_state)
void updateCollisionObjectPose(bool update_marker_position)
void computePlanAndExecuteButtonClickedDisplayHelper()
void planAndExecuteButtonClicked()
std::unique_ptr< actionlib::SimpleActionClient< object_recognition_msgs::ObjectRecognitionAction > > object_recognition_client_
void loadQueryButtonClicked()
void computeDatabaseConnectButtonClicked()
void updateExternalCommunication()
void onNewPlanningSceneState()
void populateCollisionObjectsList(planning_scene_monitor::LockedPlanningSceneRO *pps=nullptr)
void allowExternalProgramCommunication(bool enable)
void processDetectedObjects()
void importGeometryFromTextButtonClicked()
~MotionPlanningFrame() override
void saveRobotStateButtonClicked(const moveit::core::RobotState &state)
bool computeCartesianPlan()
static const std::string TAB_MANIPULATION
const std::string OBJECT_RECOGNITION_ACTION
void deleteSceneButtonClicked()
QListWidgetItem * addCollisionObjectToList(const std::string &name, int row, bool attached)
void warehouseItemNameChanged(QTreeWidgetItem *item, int column)
static const std::string TAB_PLANNING
ros::Subscriber update_goal_state_subscriber_
std::shared_ptr< Shape > ShapePtr
ros::Publisher planning_scene_world_publisher_
std::shared_ptr< rviz::InteractiveMarker > scene_marker_
Ui::MotionPlanningUI * ui_
void saveSceneButtonClicked()
void sceneUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void sceneScaleStartChange()
void copySelectedCollisionObjects()
std::string selected_object_name_
void createSceneInteractiveMarker()
void onClearOctomapClicked()
void computeDeleteSceneButtonClicked()
void computePlanAndExecuteButtonClicked()
void computePlanButtonClicked()
moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_
std::vector< geometry_msgs::PoseStamped > place_poses_
void loadSceneButtonClicked()
std::vector< std::pair< std::string, bool > > known_collision_objects_
bool computeJointSpacePlan()
World::ObjectConstPtr ObjectConstPtr
long unsigned int known_collision_objects_version_
void detectedObjectChanged(QListWidgetItem *item)
moveit::semantic_world::SemanticWorldPtr semantic_world_
MotionPlanningFrameJointsWidget * joints_tab_
void clearStatesButtonClicked()
std::map< std::string, Eigen::Isometry3d, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, Eigen::Isometry3d > > > FixedTransformsMap
MOVEIT_CLASS_FORWARD(ConstraintsStorage)
void allowLookingToggled(bool checked)
ros::Publisher planning_scene_publisher_
void computeLoadQueryButtonClicked()
void tabChanged(int index)
void planningPipelineIndexChanged(int index)
void goalStateTextChangedExec(const std::string &goal_state)
void remoteStopCallback(const std_msgs::EmptyConstPtr &msg)
collision_detection::CollisionEnv::ObjectConstPtr scaled_object_
static const int ITEM_TYPE_SCENE
void imProcessFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback)
void populatePlannerDescription(const moveit_msgs::PlannerInterfaceDescription &desc)
ros::Publisher object_recognition_trigger_publisher_
static const int ITEM_TYPE_QUERY
void computeDeleteQueryButtonClickedHelper(QTreeWidgetItem *s)
std::vector< moveit_msgs::PlannerInterfaceDescription > planner_descriptions_
std::map< std::string, moveit_msgs::RobotState > RobotStateMap
void allowReplanningToggled(bool checked)
ros::Subscriber update_start_state_subscriber_
void currentCollisionObjectChanged()
void saveQueryButtonClicked()
void saveGoalStateButtonClicked()
void updateSupportSurfacesList()
static const std::string TAB_OBJECTS
ros::Subscriber object_recognition_subscriber_
ros::Subscriber stop_subscriber_
void waitForAction(const T &action, const ros::Duration &wait_for_server, const std::string &name)
void fillStateSelectionOptions()
shapes::ShapePtr loadMeshResource(const std::string &url)
void computeResetDbButtonClicked(const std::string &db)
void approximateIKChanged(int state)
EigenSTL::vector_Isometry3d scaled_object_shape_poses_
void listenDetectedObjects(const object_recognition_msgs::RecognizedObjectArrayPtr &msg)
void placeObjectButtonClicked()
void updateQueryStateHelper(moveit::core::RobotState &state, const std::string &v)
void setAsGoalStateButtonClicked()
void computeSaveSceneButtonClicked()
void computeImportGeometryFromText(const std::string &path)
void remoteUpdateStartStateCallback(const std_msgs::EmptyConstPtr &msg)
void constructPlanningRequest(moveit_msgs::MotionPlanRequest &mreq)
void updateDetectedObjectsList(const std::vector< std::string > &object_ids)
void populateConstraintsList()
void populatePlanningSceneTreeView()
ros::Subscriber update_custom_start_state_subscriber_
ros::Subscriber update_custom_goal_state_subscriber_
void configureForPlanning()
void triggerObjectDetection()
void initFromMoveGroupNS()
std::string default_planning_pipeline_
rviz::DisplayContext * context_
void publishSceneIfNeeded()
void onFinishedExecution(bool success)
MotionPlanningDisplay * planning_display_
void resetDbButtonClicked()
static const std::string TAB_SCENES
void remoteExecuteCallback(const std_msgs::EmptyConstPtr &msg)
void checkPlanningSceneTreeEnabledButtons()
std::string selected_support_surface_name_
void computeDatabaseConnectButtonClickedHelper(int mode)
void selectedSupportSurfaceChanged()
void loadStateButtonClicked()
ros::Subscriber execute_subscriber_
void setLocalSceneEdited(bool dirty=true)
void computeDeleteQueryButtonClicked()
void removeSceneObjects()
void startStateTextChanged(const QString &start_state)
void objectPoseValueChanged(double value)
std::string place_object_name_
void computeExportGeometryAsText(const std::string &path)
RobotStateMap robot_states_
moveit::planning_interface::MoveGroupInterfacePtr move_group_
void goalStateTextChanged(const QString &goal_state)
void renameCollisionObject(QListWidgetItem *item)
void pathConstraintsIndexChanged(int index)
ros::Subscriber plan_subscriber_
void computeStopButtonClicked()
static const double LARGE_MESH_THRESHOLD
void detectObjectsButtonClicked()
visualization
Author(s): Ioan Sucan
, Dave Coleman , Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:25