moveit::planning_interface::MoveGroupInterface Class Reference

Client class to conveniently use the ROS interfaces provided by the move_group node. More...

#include <moveit/planning_interface/move_group_interface.h>

Classes
class	MoveGroupInterfaceImpl
struct	Options
	Specification of options to use when constructing the MoveGroupInterface class. More...
struct	Plan
	The representation of a motion plan (as ROS messasges) More...

Public Member Functions
	MOVEIT_STRUCT_FORWARD (Plan)
	MoveGroupInterface (const rclcpp::Node::SharedPtr &node, const Options &opt, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const rclcpp::Duration &wait_for_servers=rclcpp::Duration::from_seconds(-1))
	Construct a MoveGroupInterface instance call using a specified set of options opt. More...
	MoveGroupInterface (const rclcpp::Node::SharedPtr &node, const std::string &group, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), const rclcpp::Duration &wait_for_servers=rclcpp::Duration::from_seconds(-1))
	Construct a client for the MoveGroup action for a particular group. More...
	~MoveGroupInterface ()
	MoveGroupInterface (const MoveGroupInterface &)=delete
	This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required. More...
MoveGroupInterface &	operator= (const MoveGroupInterface &)=delete
	MoveGroupInterface (MoveGroupInterface &&other) noexcept
MoveGroupInterface &	operator= (MoveGroupInterface &&other) noexcept
const std::string &	getName () const
	Get the name of the group this instance operates on. More...
const std::vector< std::string > &	getNamedTargets () const
	Get the names of the named robot states available as targets, both either remembered states or default states from srdf. More...
moveit::core::RobotModelConstPtr	getRobotModel () const
	Get the RobotModel object. More...
rclcpp::Node::SharedPtr	getNodeHandle ()
	Get the ROS node handle of this instance operates on. More...
const std::string &	getPlanningFrame () const
	Get the name of the frame in which the robot is planning. More...
const std::vector< std::string > &	getJointModelGroupNames () const
	Get the available planning group names. More...
const std::vector< std::string > &	getJointNames () const
	Get vector of names of joints available in move group. More...
const std::vector< std::string > &	getLinkNames () const
	Get vector of names of links available in move group. More...
std::map< std::string, double >	getNamedTargetValues (const std::string &name) const
	Get the joint angles for targets specified by name. More...
const std::vector< std::string > &	getActiveJoints () const
	Get only the active (actuated) joints this instance operates on. More...
const std::vector< std::string > &	getJoints () const
	Get all the joints this instance operates on (including fixed joints) More...
unsigned int	getVariableCount () const
	Get the number of variables used to describe the state of this group. This is larger or equal to the number of DOF. More...
bool	getInterfaceDescriptions (std::vector< moveit_msgs::msg::PlannerInterfaceDescription > &desc) const
	Get the descriptions of all planning plugins loaded by the action server. More...
bool	getInterfaceDescription (moveit_msgs::msg::PlannerInterfaceDescription &desc) const
	Get the description of the default planning plugin loaded by the action server. More...
std::map< std::string, std::string >	getPlannerParams (const std::string &planner_id, const std::string &group="") const
	Get the planner parameters for given group and planner_id. More...
void	setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool bReplace=false)
	Set the planner parameters for given group and planner_id. More...
std::string	getDefaultPlanningPipelineId () const
void	setPlanningPipelineId (const std::string &pipeline_id)
	Specify a planning pipeline to be used for further planning. More...
const std::string &	getPlanningPipelineId () const
	Get the current planning_pipeline_id. More...
std::string	getDefaultPlannerId (const std::string &group="") const
	Get the default planner of the current planning pipeline for the given group (or the pipeline's default) More...
void	setPlannerId (const std::string &planner_id)
	Specify a planner to be used for further planning. More...
const std::string &	getPlannerId () const
	Get the current planner_id. More...
void	setPlanningTime (double seconds)
	Specify the maximum amount of time to use when planning. More...
void	setNumPlanningAttempts (unsigned int num_planning_attempts)
	Set the number of times the motion plan is to be computed from scratch before the shortest solution is returned. The default value is 1. More...
void	setMaxVelocityScalingFactor (double max_velocity_scaling_factor)
	Set a scaling factor for optionally reducing the maximum joint velocity. Allowed values are in (0,1]. The maximum joint velocity specified in the robot model is multiplied by the factor. If the value is 0, it is set to the default value, which is defined in joint_limits.yaml of the moveit_config. If the value is greater than 1, it is set to 1.0. More...
void	setMaxAccelerationScalingFactor (double max_acceleration_scaling_factor)
	Set a scaling factor for optionally reducing the maximum joint acceleration. Allowed values are in (0,1]. The maximum joint acceleration specified in the robot model is multiplied by the factor. If the value is 0, it is set to the default value, which is defined in joint_limits.yaml of the moveit_config. If the value is greater than 1, it is set to 1.0. More...
double	getPlanningTime () const
	Get the number of seconds set by setPlanningTime() More...
double	getGoalJointTolerance () const
	Get the tolerance that is used for reaching a joint goal. This is distance for each joint in configuration space. More...
double	getGoalPositionTolerance () const
	Get the tolerance that is used for reaching a position goal. This is be the radius of a sphere where the end-effector must reach. More...
double	getGoalOrientationTolerance () const
	Get the tolerance that is used for reaching an orientation goal. This is the tolerance for roll, pitch and yaw, in radians. More...
void	setGoalTolerance (double tolerance)
	Set the tolerance that is used for reaching the goal. For joint state goals, this will be distance for each joint, in the configuration space (radians or meters depending on joint type). For pose goals this will be the radius of a sphere where the end-effector must reach. This function simply triggers calls to setGoalPositionTolerance(), setGoalOrientationTolerance() and setGoalJointTolerance(). More...
void	setGoalJointTolerance (double tolerance)
	Set the joint tolerance (for each joint) that is used for reaching the goal when moving to a joint value target. More...
void	setGoalPositionTolerance (double tolerance)
	Set the position tolerance that is used for reaching the goal when moving to a pose. More...
void	setGoalOrientationTolerance (double tolerance)
	Set the orientation tolerance that is used for reaching the goal when moving to a pose. More...
void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
	Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world. More...
void	setStartState (const moveit_msgs::msg::RobotState &start_state)
	If a different start state should be considered instead of the current state of the robot, this function sets that state. More...
void	setStartState (const moveit::core::RobotState &start_state)
	If a different start state should be considered instead of the current state of the robot, this function sets that state. More...
void	setStartStateToCurrentState ()
	Set the starting state for planning to be that reported by the robot's joint state publication. More...
void	setSupportSurfaceName (const std::string &name)
	For pick/place operations, the name of the support surface is used to specify the fact that attached objects are allowed to touch the support surface. More...
Setting a joint state target (goal)
There are 2 types of goal targets: a JointValueTarget (aka JointStateTarget) specifies an absolute value for each joint (angle for rotational joints or position for prismatic joints). a PoseTarget (Position, Orientation, or Pose) specifies the pose of one or more end effectors (and the planner can use any joint values that reaches the pose(s)). Only one or the other is used for planning. Calling any of the set*JointValueTarget() functions sets the current goal target to the JointValueTarget. Calling any of the setPoseTarget(), setOrientationTarget(), setRPYTarget(), setPositionTarget() functions sets the current goal target to the Pose target.
bool	setJointValueTarget (const std::vector< double > &group_variable_values)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const std::map< std::string, double > &variable_values)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const std::vector< std::string > &variable_names, const std::vector< double > &variable_values)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const moveit::core::RobotState &robot_state)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const std::string &joint_name, const std::vector< double > &values)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const std::string &joint_name, double value)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const sensor_msgs::msg::JointState &state)
	Set the JointValueTarget and use it for future planning requests. More...
bool	setJointValueTarget (const geometry_msgs::msg::Pose &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
bool	setJointValueTarget (const geometry_msgs::msg::PoseStamped &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
bool	setJointValueTarget (const Eigen::Isometry3d &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
bool	setApproximateJointValueTarget (const geometry_msgs::msg::Pose &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
bool	setApproximateJointValueTarget (const geometry_msgs::msg::PoseStamped &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
bool	setApproximateJointValueTarget (const Eigen::Isometry3d &eef_pose, const std::string &end_effector_link="")
	Set the joint state goal for a particular joint by computing IK. More...
void	setRandomTarget ()
	Set the joint state goal to a random joint configuration. More...
bool	setNamedTarget (const std::string &name)
	Set the current joint values to be ones previously remembered by rememberJointValues() or, if not found, that are specified in the SRDF under the name name as a group state. More...
void	getJointValueTarget (std::vector< double > &group_variable_values) const
	Get the current joint state goal in a form compatible to setJointValueTarget() More...
const moveit::core::RobotState &	getJointValueTarget () const
	Get the currently set joint state goal, replaced by private getTargetRobotState() More...
Setting a pose target (goal)
Setting a Pose (or Position or Orientation) target disables any previously set JointValueTarget. For groups that have multiple end effectors, a pose can be set for each end effector in the group. End effectors which do not have a pose target set will end up in arbitrary positions.
bool	setPositionTarget (double x, double y, double z, const std::string &end_effector_link="")
	Set the goal position of the end-effector end_effector_link to be (x, y, z). More...
bool	setRPYTarget (double roll, double pitch, double yaw, const std::string &end_effector_link="")
	Set the goal orientation of the end-effector end_effector_link to be (roll,pitch,yaw) radians. More...
bool	setOrientationTarget (double x, double y, double z, double w, const std::string &end_effector_link="")
	Set the goal orientation of the end-effector end_effector_link to be the quaternion (x,y,z,w). More...
bool	setPoseTarget (const Eigen::Isometry3d &end_effector_pose, const std::string &end_effector_link="")
	Set the goal pose of the end-effector end_effector_link. More...
bool	setPoseTarget (const geometry_msgs::msg::Pose &target, const std::string &end_effector_link="")
	Set the goal pose of the end-effector end_effector_link. More...
bool	setPoseTarget (const geometry_msgs::msg::PoseStamped &target, const std::string &end_effector_link="")
	Set the goal pose of the end-effector end_effector_link. More...
bool	setPoseTargets (const EigenSTL::vector_Isometry3d &end_effector_pose, const std::string &end_effector_link="")
	Set goal poses for end_effector_link. More...
bool	setPoseTargets (const std::vector< geometry_msgs::msg::Pose > &target, const std::string &end_effector_link="")
	Set goal poses for end_effector_link. More...
bool	setPoseTargets (const std::vector< geometry_msgs::msg::PoseStamped > &target, const std::string &end_effector_link="")
	Set goal poses for end_effector_link. More...
void	setPoseReferenceFrame (const std::string &pose_reference_frame)
	Specify which reference frame to assume for poses specified without a reference frame. More...
bool	setEndEffectorLink (const std::string &end_effector_link)
	Specify the parent link of the end-effector. This end_effector_link will be used in calls to pose target functions when end_effector_link is not explicitly specified. More...
bool	setEndEffector (const std::string &eef_name)
	Specify the name of the end-effector to use. This is equivalent to setting the EndEffectorLink to the parent link of this end effector. More...
void	clearPoseTarget (const std::string &end_effector_link="")
	Forget pose(s) specified for end_effector_link. More...
void	clearPoseTargets ()
	Forget any poses specified for all end-effectors. More...
const geometry_msgs::msg::PoseStamped &	getPoseTarget (const std::string &end_effector_link="") const
const std::vector< geometry_msgs::msg::PoseStamped > &	getPoseTargets (const std::string &end_effector_link="") const
const std::string &	getEndEffectorLink () const
	Get the current end-effector link. This returns the value set by setEndEffectorLink() (or indirectly by setEndEffector()). If setEndEffectorLink() was not called, this function reports the link name that serves as parent of an end-effector attached to this group. If there are multiple end-effectors, one of them is returned. If no such link is known, the empty string is returned. More...
const std::string &	getEndEffector () const
	Get the current end-effector name. This returns the value set by setEndEffector() (or indirectly by setEndEffectorLink()). If setEndEffector() was not called, this function reports an end-effector attached to this group. If there are multiple end-effectors, one of them is returned. If no end-effector is known, the empty string is returned. More...
const std::string &	getPoseReferenceFrame () const
	Get the reference frame set by setPoseReferenceFrame(). By default this is the reference frame of the robot model. More...
Planning a path from the start position to the Target (goal) position, and executing that plan.
moveit::core::MoveItErrorCode	asyncMove ()
	Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified target. This call is not blocking (does not wait for the execution of the trajectory to complete). More...
rclcpp_action::Client< moveit_msgs::action::MoveGroup > &	getMoveGroupClient () const
	Get the move_group action client used by the MoveGroupInterface. The client can be used for querying the execution state of the trajectory and abort trajectory execution during asynchronous execution. More...
moveit::core::MoveItErrorCode	move ()
	Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified target. This call is always blocking (waits for the execution of the trajectory to complete) and requires an asynchronous spinner to be started. More...
moveit::core::MoveItErrorCode	plan (Plan &plan)
	Compute a motion plan that takes the group declared in the constructor from the current state to the specified target. No execution is performed. The resulting plan is stored in plan. More...
moveit::core::MoveItErrorCode	asyncExecute (const Plan &plan)
	Given a plan, execute it without waiting for completion. More...
moveit::core::MoveItErrorCode	asyncExecute (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Given a robot trajectory, execute it without waiting for completion. More...
moveit::core::MoveItErrorCode	execute (const Plan &plan)
	Given a plan, execute it while waiting for completion. More...
moveit::core::MoveItErrorCode	execute (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Given a robot trajectory, execute it while waiting for completion. More...
double	computeCartesianPath (const std::vector< geometry_msgs::msg::Pose > &waypoints, double eef_step, double jump_threshold, moveit_msgs::msg::RobotTrajectory &trajectory, bool avoid_collisions=true, moveit_msgs::msg::MoveItErrorCodes *error_code=nullptr)
	Compute a Cartesian path that follows specified waypoints with a step size of at most eef_step meters between end effector configurations of consecutive points in the result trajectory. The reference frame for the waypoints is that specified by setPoseReferenceFrame(). No more than jump_threshold is allowed as change in distance in the configuration space of the robot (this is to prevent 'jumps' in IK solutions). Collisions are avoided if avoid_collisions is set to true. If collisions cannot be avoided, the function fails. Return a value that is between 0.0 and 1.0 indicating the fraction of the path achieved as described by the waypoints. Return -1.0 in case of error. More...
double	computeCartesianPath (const std::vector< geometry_msgs::msg::Pose > &waypoints, double eef_step, double jump_threshold, moveit_msgs::msg::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, bool avoid_collisions=true, moveit_msgs::msg::MoveItErrorCodes *error_code=nullptr)
	Compute a Cartesian path that follows specified waypoints with a step size of at most eef_step meters between end effector configurations of consecutive points in the result trajectory. The reference frame for the waypoints is that specified by setPoseReferenceFrame(). No more than jump_threshold is allowed as change in distance in the configuration space of the robot (this is to prevent 'jumps' in IK solutions). Kinematic constraints for the path given by path_constraints will be met for every point along the trajectory, if they are not met, a partial solution will be returned. Constraints are checked (collision and kinematic) if avoid_collisions is set to true. If constraints cannot be met, the function fails. Return a value that is between 0.0 and 1.0 indicating the fraction of the path achieved as described by the waypoints. Return -1.0 in case of error. More...
void	stop ()
	Stop any trajectory execution, if one is active. More...
void	allowReplanning (bool flag)
	Specify whether the robot is allowed to replan if it detects changes in the environment. More...
void	setReplanAttempts (int32_t attempts)
	Maximum number of replanning attempts. More...
void	setReplanDelay (double delay)
	Sleep this duration between replanning attempts (in walltime seconds) More...
void	allowLooking (bool flag)
	Specify whether the robot is allowed to look around before moving if it determines it should (default is false) More...
void	setLookAroundAttempts (int32_t attempts)
	How often is the system allowed to move the camera to update environment model when looking. More...
void	constructMotionPlanRequest (moveit_msgs::msg::MotionPlanRequest &request)
	Build the MotionPlanRequest that would be sent to the move_group action with plan() or move() and store it in request. More...
High level actions that trigger a sequence of plans and actions.
Build a PickupGoal for an object named object and store it in goal_out
bool	attachObject (const std::string &object, const std::string &link="")
	Pick up an object. More...
bool	attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)
	Given the name of an object in the planning scene, make the object attached to a link of the robot. The set of links the object is allowed to touch without considering that a collision is specified by touch_links. If link is empty, the end-effector link is used. If there is no end-effector, the first link in the group is used. If the object name does not exist an error will be produced in move_group, but the request made by this interface will succeed. More...
bool	detachObject (const std::string &name="")
	Detach an object. name specifies the name of the object attached to this group, or the name of the link the object is attached to. If there is no name specified, and there is only one attached object, that object is detached. An error is produced if no object to detach is identified. More...
Query current robot state
bool	startStateMonitor (double wait=1.0)
	When reasoning about the current state of a robot, a CurrentStateMonitor instance is automatically constructed. This function allows triggering the construction of that object from the beginning, so that future calls to functions such as getCurrentState() will not take so long and are less likely to fail. More...
std::vector< double >	getCurrentJointValues () const
	Get the current joint values for the joints planned for by this instance (see getJoints()) More...
moveit::core::RobotStatePtr	getCurrentState (double wait=1) const
	Get the current state of the robot within the duration specified by wait. More...
geometry_msgs::msg::PoseStamped	getCurrentPose (const std::string &end_effector_link="") const
	Get the pose for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed. More...
std::vector< double >	getCurrentRPY (const std::string &end_effector_link="") const
	Get the roll-pitch-yaw (XYZ) for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed. More...
std::vector< double >	getRandomJointValues () const
	Get random joint values for the joints planned for by this instance (see getJoints()) More...
geometry_msgs::msg::PoseStamped	getRandomPose (const std::string &end_effector_link="") const
	Get a random reachable pose for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed. More...
Manage named joint configurations
void	rememberJointValues (const std::string &name)
	Remember the current joint values (of the robot being monitored) under name. These can be used by setNamedTarget(). These values are remembered locally in the client. Other clients will not have access to them. More...
void	rememberJointValues (const std::string &name, const std::vector< double > &values)
	Remember the specified joint values under name. These can be used by setNamedTarget(). These values are remembered locally in the client. Other clients will not have access to them. More...
const std::map< std::string, std::vector< double > > &	getRememberedJointValues () const
	Get the currently remembered map of names to joint values. More...
void	forgetJointValues (const std::string &name)
	Forget the joint values remembered under name. More...
Manage planning constraints
void	setConstraintsDatabase (const std::string &host, unsigned int port)
	Specify where the database server that holds known constraints resides. More...
std::vector< std::string >	getKnownConstraints () const
	Get the names of the known constraints as read from the Mongo database, if a connection was achieved. More...
moveit_msgs::msg::Constraints	getPathConstraints () const
	Get the actual set of constraints in use with this MoveGroupInterface. More...
bool	setPathConstraints (const std::string &constraint)
	Specify a set of path constraints to use. The constraints are looked up by name from the Mongo database server. This replaces any path constraints set in previous calls to setPathConstraints(). More...
void	setPathConstraints (const moveit_msgs::msg::Constraints &constraint)
	Specify a set of path constraints to use. This version does not require a database server. This replaces any path constraints set in previous calls to setPathConstraints(). More...
void	clearPathConstraints ()
	Specify that no path constraints are to be used. This removes any path constraints set in previous calls to setPathConstraints(). More...
moveit_msgs::msg::TrajectoryConstraints	getTrajectoryConstraints () const
void	setTrajectoryConstraints (const moveit_msgs::msg::TrajectoryConstraints &constraint)
void	clearTrajectoryConstraints ()

Static Public Attributes
static const std::string	ROBOT_DESCRIPTION
	Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description'. More...

Protected Member Functions
const moveit::core::RobotState &	getTargetRobotState () const

Detailed Description

Client class to conveniently use the ROS interfaces provided by the move_group node.

This class includes many default settings to make things easy to use.

Definition at line 80 of file move_group_interface.h.

Constructor & Destructor Documentation

MoveGroupInterface() [1/4]

moveit::planning_interface::MoveGroupInterface::MoveGroupInterface	(	const rclcpp::Node::SharedPtr &	node,
		const Options &	opt,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
		const rclcpp::Duration &	wait_for_servers = rclcpp::Duration::from_seconds(-1)
	)

Construct a MoveGroupInterface instance call using a specified set of options opt.

Parameters

opt.	A MoveGroupInterface::Options structure, if you pass a ros::NodeHandle with a specific callback queue, it has to be of type ros::CallbackQueue (which is the default type of callback queues used in ROS)
tf_buffer.	Specify a TF2_ROS Buffer instance to use. If not specified, one will be constructed internally
wait_for_servers.	Timeout for connecting to action servers. -1 time means unlimited waiting.

Definition at line 1400 of file move_group_interface.cpp.

Here is the call graph for this function:

MoveGroupInterface() [2/4]

moveit::planning_interface::MoveGroupInterface::MoveGroupInterface	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	group,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
		const rclcpp::Duration &	wait_for_servers = rclcpp::Duration::from_seconds(-1)
	)

Construct a client for the MoveGroup action for a particular group.

Parameters

tf_buffer.	Specify a TF2_ROS Buffer instance to use. If not specified, one will be constructed internally
wait_for_servers.	Timeout for connecting to action servers. -1 time means unlimited waiting.

Definition at line 1390 of file move_group_interface.cpp.

Here is the call graph for this function:

~MoveGroupInterface()

moveit::planning_interface::MoveGroupInterface::~MoveGroupInterface

(

)

Definition at line 1407 of file move_group_interface.cpp.

MoveGroupInterface() [3/4]

moveit::planning_interface::MoveGroupInterface::MoveGroupInterface ( const MoveGroupInterface &  )

delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

MoveGroupInterface() [4/4]

moveit::planning_interface::MoveGroupInterface::MoveGroupInterface ( MoveGroupInterface &&  other )

noexcept

Definition at line 1412 of file move_group_interface.cpp.

Member Function Documentation

allowLooking()

void moveit::planning_interface::MoveGroupInterface::allowLooking

(

bool

flag

)

Specify whether the robot is allowed to look around before moving if it determines it should (default is false)

Definition at line 2230 of file move_group_interface.cpp.

allowReplanning()

void moveit::planning_interface::MoveGroupInterface::allowReplanning

(

bool

flag

)

Specify whether the robot is allowed to replan if it detects changes in the environment.

Definition at line 2249 of file move_group_interface.cpp.

asyncExecute() [1/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::asyncExecute

(

const moveit_msgs::msg::RobotTrajectory &

trajectory

)

Given a robot trajectory, execute it without waiting for completion.

Definition at line 1535 of file move_group_interface.cpp.

Here is the call graph for this function:

asyncExecute() [2/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::asyncExecute

(

const Plan &

plan

)

Given a plan, execute it without waiting for completion.

Definition at line 1530 of file move_group_interface.cpp.

Here is the call graph for this function:

asyncMove()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::asyncMove

(

)

Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified target. This call is not blocking (does not wait for the execution of the trajectory to complete).

Definition at line 1515 of file move_group_interface.cpp.

Here is the call graph for this function:

attachObject() [1/2]

bool moveit::planning_interface::MoveGroupInterface::attachObject	(	const std::string &	object,
		const std::string &	link,
		const std::vector< std::string > &	touch_links
	)

Given the name of an object in the planning scene, make the object attached to a link of the robot. The set of links the object is allowed to touch without considering that a collision is specified by touch_links. If link is empty, the end-effector link is used. If there is no end-effector, the first link in the group is used. If the object name does not exist an error will be produced in move_group, but the request made by this interface will succeed.

Definition at line 2363 of file move_group_interface.cpp.

Here is the call graph for this function:

attachObject() [2/2]

bool moveit::planning_interface::MoveGroupInterface::attachObject	(	const std::string &	object,
		const std::string &	link = ""
	)

Pick up an object.

This applies a number of hard-coded default grasps

Pick up an object given a grasp pose

Pick up an object given possible grasp poses

Pick up an object given a PickupGoal

Use as follows: first create the goal with constructPickupGoal(), then set possible_grasps and any other desired variable in the goal, and finally pass it on to this function

Pick up an object

calls the external moveit_msgs::srv::GraspPlanning service "plan_grasps" to compute possible grasps

Pick up an object calls the external moveit_msgs::srv::GraspPlanning service "plan_grasps" to compute possible grasps

Place an object somewhere safe in the world (a safe location will be detected)

Place an object at one of the specified possible locations

Place an object at one of the specified possible locations

Place an object at one of the specified possible location

Place an object given a PlaceGoal

Use as follows: first create the goal with constructPlaceGoal(), then set place_locations and any other desired variable in the goal, and finally pass it on to this function

Given the name of an object in the planning scene, make the object attached to a link of the robot. If no link name is specified, the end-effector is used. If there is no end-effector, the first link in the group is used. If the object name does not exist an error will be produced in move_group, but the request made by this interface will succeed.

Definition at line 2358 of file move_group_interface.cpp.

clearPathConstraints()

void moveit::planning_interface::MoveGroupInterface::clearPathConstraints

(

)

Specify that no path constraints are to be used. This removes any path constraints set in previous calls to setPathConstraints().

Definition at line 2301 of file move_group_interface.cpp.

Here is the call graph for this function:

clearPoseTarget()

void moveit::planning_interface::MoveGroupInterface::clearPoseTarget

(

const std::string &

end_effector_link = ""

)

Forget pose(s) specified for end_effector_link.

Definition at line 1870 of file move_group_interface.cpp.

Here is the call graph for this function:

clearPoseTargets()

void moveit::planning_interface::MoveGroupInterface::clearPoseTargets

(

)

Forget any poses specified for all end-effectors.

Definition at line 1875 of file move_group_interface.cpp.

Here is the call graph for this function:

clearTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::clearTrajectoryConstraints

(

)

Definition at line 2316 of file move_group_interface.cpp.

Here is the call graph for this function:

computeCartesianPath() [1/2]

double moveit::planning_interface::MoveGroupInterface::computeCartesianPath	(	const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		double	eef_step,
		double	jump_threshold,
		moveit_msgs::msg::RobotTrajectory &	trajectory,
		bool	avoid_collisions = true,
		moveit_msgs::msg::MoveItErrorCodes *	error_code = nullptr
	)

Compute a Cartesian path that follows specified waypoints with a step size of at most eef_step meters between end effector configurations of consecutive points in the result trajectory. The reference frame for the waypoints is that specified by setPoseReferenceFrame(). No more than jump_threshold is allowed as change in distance in the configuration space of the robot (this is to prevent 'jumps' in IK solutions). Collisions are avoided if avoid_collisions is set to true. If collisions cannot be avoided, the function fails. Return a value that is between 0.0 and 1.0 indicating the fraction of the path achieved as described by the waypoints. Return -1.0 in case of error.

Definition at line 1595 of file move_group_interface.cpp.

computeCartesianPath() [2/2]

double moveit::planning_interface::MoveGroupInterface::computeCartesianPath	(	const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		double	eef_step,
		double	jump_threshold,
		moveit_msgs::msg::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		bool	avoid_collisions = true,
		moveit_msgs::msg::MoveItErrorCodes *	error_code = nullptr
	)

Compute a Cartesian path that follows specified waypoints with a step size of at most eef_step meters between end effector configurations of consecutive points in the result trajectory. The reference frame for the waypoints is that specified by setPoseReferenceFrame(). No more than jump_threshold is allowed as change in distance in the configuration space of the robot (this is to prevent 'jumps' in IK solutions). Kinematic constraints for the path given by path_constraints will be met for every point along the trajectory, if they are not met, a partial solution will be returned. Constraints are checked (collision and kinematic) if avoid_collisions is set to true. If constraints cannot be met, the function fails. Return a value that is between 0.0 and 1.0 indicating the fraction of the path achieved as described by the waypoints. Return -1.0 in case of error.

Definition at line 1604 of file move_group_interface.cpp.

Here is the call graph for this function:

constructMotionPlanRequest()

void moveit::planning_interface::MoveGroupInterface::constructMotionPlanRequest

(

moveit_msgs::msg::MotionPlanRequest &

request

)

Build the MotionPlanRequest that would be sent to the move_group action with plan() or move() and store it in request.

Definition at line 2374 of file move_group_interface.cpp.

Here is the call graph for this function:

detachObject()

bool moveit::planning_interface::MoveGroupInterface::detachObject

(

const std::string &

name = ""

)

Detach an object. name specifies the name of the object attached to this group, or the name of the link the object is attached to. If there is no name specified, and there is only one attached object, that object is detached. An error is produced if no object to detach is identified.

Definition at line 2369 of file move_group_interface.cpp.

Here is the call graph for this function:

execute() [1/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::execute

(

const moveit_msgs::msg::RobotTrajectory &

trajectory

)

Given a robot trajectory, execute it while waiting for completion.

Definition at line 1545 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

execute() [2/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::execute

(

const Plan &

plan

)

Given a plan, execute it while waiting for completion.

Definition at line 1540 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

forgetJointValues()

void moveit::planning_interface::MoveGroupInterface::forgetJointValues

(

const std::string &

name

)

Forget the joint values remembered under name.

Definition at line 2225 of file move_group_interface.cpp.

getActiveJoints()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getActiveJoints

(

)

const

Get only the active (actuated) joints this instance operates on.

Definition at line 2198 of file move_group_interface.cpp.

Here is the call graph for this function:

getCurrentJointValues()

std::vector< double > moveit::planning_interface::MoveGroupInterface::getCurrentJointValues

(

)

const

Get the current joint values for the joints planned for by this instance (see getJoints())

Definition at line 2106 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getCurrentPose()

geometry_msgs::msg::PoseStamped moveit::planning_interface::MoveGroupInterface::getCurrentPose

(

const std::string &

end_effector_link = ""

)

const

Get the pose for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed.

Definition at line 2147 of file move_group_interface.cpp.

Here is the call graph for this function:

getCurrentRPY()

std::vector< double > moveit::planning_interface::MoveGroupInterface::getCurrentRPY

(

const std::string &

end_effector_link = ""

)

const

Get the roll-pitch-yaw (XYZ) for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed.

Definition at line 2171 of file move_group_interface.cpp.

Here is the call graph for this function:

getCurrentState()

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::getCurrentState

(

double

wait = 1

)

const

Get the current state of the robot within the duration specified by wait.

Definition at line 2213 of file move_group_interface.cpp.

Here is the call graph for this function:

getDefaultPlannerId()

std::string moveit::planning_interface::MoveGroupInterface::getDefaultPlannerId

(

const std::string &

group = ""

)

const

Get the default planner of the current planning pipeline for the given group (or the pipeline's default)

Definition at line 1485 of file move_group_interface.cpp.

Here is the call graph for this function:

getDefaultPlanningPipelineId()

std::string moveit::planning_interface::MoveGroupInterface::getDefaultPlanningPipelineId

(

)

const

Definition at line 1470 of file move_group_interface.cpp.

Here is the call graph for this function:

getEndEffector()

const std::string & moveit::planning_interface::MoveGroupInterface::getEndEffector

(

)

const

Get the current end-effector name. This returns the value set by setEndEffector() (or indirectly by setEndEffectorLink()). If setEndEffector() was not called, this function reports an end-effector attached to this group. If there are multiple end-effectors, one of them is returned. If no end-effector is known, the empty string is returned.

Definition at line 1848 of file move_group_interface.cpp.

Here is the call graph for this function:

getEndEffectorLink()

const std::string & moveit::planning_interface::MoveGroupInterface::getEndEffectorLink

(

)

const

Get the current end-effector link. This returns the value set by setEndEffectorLink() (or indirectly by setEndEffector()). If setEndEffectorLink() was not called, this function reports the link name that serves as parent of an end-effector attached to this group. If there are multiple end-effectors, one of them is returned. If no such link is known, the empty string is returned.

Definition at line 1843 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getGoalJointTolerance()

double moveit::planning_interface::MoveGroupInterface::getGoalJointTolerance

(

)

const

Get the tolerance that is used for reaching a joint goal. This is distance for each joint in configuration space.

Definition at line 2059 of file move_group_interface.cpp.

Here is the call graph for this function:

getGoalOrientationTolerance()

double moveit::planning_interface::MoveGroupInterface::getGoalOrientationTolerance

(

)

const

Get the tolerance that is used for reaching an orientation goal. This is the tolerance for roll, pitch and yaw, in radians.

Definition at line 2069 of file move_group_interface.cpp.

Here is the call graph for this function:

getGoalPositionTolerance()

double moveit::planning_interface::MoveGroupInterface::getGoalPositionTolerance

(

)

const

Get the tolerance that is used for reaching a position goal. This is be the radius of a sphere where the end-effector must reach.

Definition at line 2064 of file move_group_interface.cpp.

Here is the call graph for this function:

getInterfaceDescription()

bool moveit::planning_interface::MoveGroupInterface::getInterfaceDescription

(

moveit_msgs::msg::PlannerInterfaceDescription &

desc

)

const

Get the description of the default planning plugin loaded by the action server.

Definition at line 1448 of file move_group_interface.cpp.

Here is the call graph for this function:

getInterfaceDescriptions()

bool moveit::planning_interface::MoveGroupInterface::getInterfaceDescriptions

(

std::vector< moveit_msgs::msg::PlannerInterfaceDescription > &

desc

)

const

Get the descriptions of all planning plugins loaded by the action server.

Definition at line 1453 of file move_group_interface.cpp.

Here is the call graph for this function:

getJointModelGroupNames()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getJointModelGroupNames

(

)

const

Get the available planning group names.

Definition at line 2353 of file move_group_interface.cpp.

Here is the call graph for this function:

getJointNames()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getJointNames

(

)

const

Get vector of names of joints available in move group.

Definition at line 1657 of file move_group_interface.cpp.

Here is the call graph for this function:

getJoints()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getJoints

(

)

const

Get all the joints this instance operates on (including fixed joints)

Definition at line 2203 of file move_group_interface.cpp.

Here is the call graph for this function:

getJointValueTarget() [1/2]

const moveit::core::RobotState & moveit::planning_interface::MoveGroupInterface::getJointValueTarget

(

)

const

Get the currently set joint state goal, replaced by private getTargetRobotState()

Definition at line 1833 of file move_group_interface.cpp.

Here is the call graph for this function:

getJointValueTarget() [2/2]

void moveit::planning_interface::MoveGroupInterface::getJointValueTarget

(

std::vector< double > &

group_variable_values

)

const

Get the current joint state goal in a form compatible to setJointValueTarget()

Definition at line 1706 of file move_group_interface.cpp.

Here is the call graph for this function:

getKnownConstraints()

std::vector< std::string > moveit::planning_interface::MoveGroupInterface::getKnownConstraints

(

)

const

Get the names of the known constraints as read from the Mongo database, if a connection was achieved.

Definition at line 2281 of file move_group_interface.cpp.

Here is the call graph for this function:

getLinkNames()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getLinkNames

(

)

const

Get vector of names of links available in move group.

Definition at line 1662 of file move_group_interface.cpp.

Here is the call graph for this function:

getMoveGroupClient()

rclcpp_action::Client< moveit_msgs::action::MoveGroup > & moveit::planning_interface::MoveGroupInterface::getMoveGroupClient

(

)

const

Get the move_group action client used by the MoveGroupInterface. The client can be used for querying the execution state of the trajectory and abort trajectory execution during asynchronous execution.

Definition at line 1520 of file move_group_interface.cpp.

Here is the call graph for this function:

getName()

const std::string & moveit::planning_interface::MoveGroupInterface::getName

(

)

const

Get the name of the group this instance operates on.

Definition at line 1431 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getNamedTargets()

const std::vector< std::string > & moveit::planning_interface::MoveGroupInterface::getNamedTargets

(

)

const

Get the names of the named robot states available as targets, both either remembered states or default states from srdf.

Definition at line 1436 of file move_group_interface.cpp.

Here is the call graph for this function:

getNamedTargetValues()

std::map< std::string, double > moveit::planning_interface::MoveGroupInterface::getNamedTargetValues

(

const std::string &

name

)

const

Get the joint angles for targets specified by name.

Definition at line 1667 of file move_group_interface.cpp.

Here is the call graph for this function:

getNodeHandle()

rclcpp::Node::SharedPtr moveit::planning_interface::MoveGroupInterface::getNodeHandle

(

)

Get the ROS node handle of this instance operates on.

getPathConstraints()

moveit_msgs::msg::Constraints moveit::planning_interface::MoveGroupInterface::getPathConstraints

(

)

const

Get the actual set of constraints in use with this MoveGroupInterface.

Returns

A copy of the current path constraints set for this interface

Definition at line 2286 of file move_group_interface.cpp.

Here is the call graph for this function:

getPlannerId()

const std::string & moveit::planning_interface::MoveGroupInterface::getPlannerId

(

)

const

Get the current planner_id.

Definition at line 1495 of file move_group_interface.cpp.

Here is the call graph for this function:

getPlannerParams()

std::map< std::string, std::string > moveit::planning_interface::MoveGroupInterface::getPlannerParams	(	const std::string &	planner_id,
		const std::string &	group = ""
	)		const

Get the planner parameters for given group and planner_id.

Definition at line 1458 of file move_group_interface.cpp.

Here is the call graph for this function:

getPlanningFrame()

const std::string & moveit::planning_interface::MoveGroupInterface::getPlanningFrame

(

)

const

Get the name of the frame in which the robot is planning.

Definition at line 2348 of file move_group_interface.cpp.

Here is the call graph for this function:

getPlanningPipelineId()

const std::string & moveit::planning_interface::MoveGroupInterface::getPlanningPipelineId

(

)

const

Get the current planning_pipeline_id.

Definition at line 1480 of file move_group_interface.cpp.

Here is the call graph for this function:

getPlanningTime()

double moveit::planning_interface::MoveGroupInterface::getPlanningTime

(

)

const

Get the number of seconds set by setPlanningTime()

Get time allowed to planner to solve problem before aborting.

Definition at line 2338 of file move_group_interface.cpp.

Here is the call graph for this function:

getPoseReferenceFrame()

const std::string & moveit::planning_interface::MoveGroupInterface::getPoseReferenceFrame

(

)

const

Get the reference frame set by setPoseReferenceFrame(). By default this is the reference frame of the robot model.

Definition at line 2054 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getPoseTarget()

const geometry_msgs::msg::PoseStamped & moveit::planning_interface::MoveGroupInterface::getPoseTarget

(

const std::string &

end_effector_link = ""

)

const

Get the currently set pose goal for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed. If multiple targets are set for end_effector_link this will return the first one. If no pose target is set for this end_effector_link then an empty pose will be returned (check for orientation.xyzw == 0).

Definition at line 1949 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getPoseTargets()

const std::vector< geometry_msgs::msg::PoseStamped > & moveit::planning_interface::MoveGroupInterface::getPoseTargets

(

const std::string &

end_effector_link = ""

)

const

Get the currently set pose goal for the end-effector end_effector_link. The pose goal can consist of multiple poses, if corresponding setPoseTarget() calls were made. Otherwise, only one pose is returned in the vector. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed

Definition at line 1955 of file move_group_interface.cpp.

Here is the call graph for this function:

getRandomJointValues()

std::vector< double > moveit::planning_interface::MoveGroupInterface::getRandomJointValues

(

)

const

Get random joint values for the joints planned for by this instance (see getJoints())

Definition at line 2115 of file move_group_interface.cpp.

Here is the call graph for this function:

getRandomPose()

geometry_msgs::msg::PoseStamped moveit::planning_interface::MoveGroupInterface::getRandomPose

(

const std::string &

end_effector_link = ""

)

const

Get a random reachable pose for the end-effector end_effector_link. If end_effector_link is empty (the default value) then the end-effector reported by getEndEffectorLink() is assumed.

Definition at line 2122 of file move_group_interface.cpp.

Here is the call graph for this function:

getRememberedJointValues()

const std::map<std::string, std::vector<double> >& moveit::planning_interface::MoveGroupInterface::getRememberedJointValues ( ) const

inline

Get the currently remembered map of names to joint values.

Definition at line 963 of file move_group_interface.h.

getRobotModel()

moveit::core::RobotModelConstPtr moveit::planning_interface::MoveGroupInterface::getRobotModel

(

)

const

Get the RobotModel object.

Definition at line 1443 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getTargetRobotState()

const moveit::core::RobotState & moveit::planning_interface::MoveGroupInterface::getTargetRobotState ( ) const

protected

return the full RobotState of the joint-space target, only for internal use

Definition at line 1838 of file move_group_interface.cpp.

Here is the call graph for this function:

getTrajectoryConstraints()

moveit_msgs::msg::TrajectoryConstraints moveit::planning_interface::MoveGroupInterface::getTrajectoryConstraints

(

)

const

Definition at line 2306 of file move_group_interface.cpp.

Here is the call graph for this function:

getVariableCount()

unsigned int moveit::planning_interface::MoveGroupInterface::getVariableCount

(

)

const

Get the number of variables used to describe the state of this group. This is larger or equal to the number of DOF.

Definition at line 2208 of file move_group_interface.cpp.

Here is the call graph for this function:

move()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::move

(

)

Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified target. This call is always blocking (waits for the execution of the trajectory to complete) and requires an asynchronous spinner to be started.

Definition at line 1525 of file move_group_interface.cpp.

Here is the call graph for this function:

MOVEIT_STRUCT_FORWARD()

moveit::planning_interface::MoveGroupInterface::MOVEIT_STRUCT_FORWARD

(

Plan

)

operator=() [1/2]

MoveGroupInterface& moveit::planning_interface::MoveGroupInterface::operator= ( const MoveGroupInterface &  )

delete

operator=() [2/2]

MoveGroupInterface & moveit::planning_interface::MoveGroupInterface::operator= ( MoveGroupInterface &&  other )

noexcept

Definition at line 1418 of file move_group_interface.cpp.

plan()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::plan

(

Plan &

plan

)

Compute a motion plan that takes the group declared in the constructor from the current state to the specified target. No execution is performed. The resulting plan is stored in plan.

Definition at line 1550 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

rememberJointValues() [1/2]

void moveit::planning_interface::MoveGroupInterface::rememberJointValues

(

const std::string &

name

)

Remember the current joint values (of the robot being monitored) under name. These can be used by setNamedTarget(). These values are remembered locally in the client. Other clients will not have access to them.

Definition at line 2096 of file move_group_interface.cpp.

Here is the call graph for this function:

rememberJointValues() [2/2]

void moveit::planning_interface::MoveGroupInterface::rememberJointValues	(	const std::string &	name,
		const std::vector< double > &	values
	)

Remember the specified joint values under name. These can be used by setNamedTarget(). These values are remembered locally in the client. Other clients will not have access to them.

Definition at line 2220 of file move_group_interface.cpp.

setApproximateJointValueTarget() [1/3]

bool moveit::planning_interface::MoveGroupInterface::setApproximateJointValueTarget	(	const Eigen::Isometry3d &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then an approximation is used.

Definition at line 1826 of file move_group_interface.cpp.

Here is the call graph for this function:

setApproximateJointValueTarget() [2/3]

bool moveit::planning_interface::MoveGroupInterface::setApproximateJointValueTarget	(	const geometry_msgs::msg::Pose &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then an approximation is used.

Definition at line 1814 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setApproximateJointValueTarget() [3/3]

bool moveit::planning_interface::MoveGroupInterface::setApproximateJointValueTarget	(	const geometry_msgs::msg::PoseStamped &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then an approximation is used.

Definition at line 1820 of file move_group_interface.cpp.

Here is the call graph for this function:

setConstraintsDatabase()

void moveit::planning_interface::MoveGroupInterface::setConstraintsDatabase	(	const std::string &	host,
		unsigned int	port
	)

Specify where the database server that holds known constraints resides.

Definition at line 2321 of file move_group_interface.cpp.

Here is the call graph for this function:

setEndEffector()

bool moveit::planning_interface::MoveGroupInterface::setEndEffector

(

const std::string &

eef_name

)

Specify the name of the end-effector to use. This is equivalent to setting the EndEffectorLink to the parent link of this end effector.

Definition at line 1862 of file move_group_interface.cpp.

Here is the call graph for this function:

setEndEffectorLink()

bool moveit::planning_interface::MoveGroupInterface::setEndEffectorLink

(

const std::string &

end_effector_link

)

Specify the parent link of the end-effector. This end_effector_link will be used in calls to pose target functions when end_effector_link is not explicitly specified.

Definition at line 1853 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setGoalJointTolerance()

void moveit::planning_interface::MoveGroupInterface::setGoalJointTolerance

(

double

tolerance

)

Set the joint tolerance (for each joint) that is used for reaching the goal when moving to a joint value target.

Definition at line 2081 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setGoalOrientationTolerance()

void moveit::planning_interface::MoveGroupInterface::setGoalOrientationTolerance

(

double

tolerance

)

Set the orientation tolerance that is used for reaching the goal when moving to a pose.

Definition at line 2091 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setGoalPositionTolerance()

void moveit::planning_interface::MoveGroupInterface::setGoalPositionTolerance

(

double

tolerance

)

Set the position tolerance that is used for reaching the goal when moving to a pose.

Definition at line 2086 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setGoalTolerance()

void moveit::planning_interface::MoveGroupInterface::setGoalTolerance

(

double

tolerance

)

Set the tolerance that is used for reaching the goal. For joint state goals, this will be distance for each joint, in the configuration space (radians or meters depending on joint type). For pose goals this will be the radius of a sphere where the end-effector must reach. This function simply triggers calls to setGoalPositionTolerance(), setGoalOrientationTolerance() and setGoalJointTolerance().

Definition at line 2074 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [1/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const Eigen::Isometry3d &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then false is returned BUT THE PARTIAL RESULT OF IK IS STILL SET AS THE GOAL.

Definition at line 1808 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [2/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const geometry_msgs::msg::Pose &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then false is returned BUT THE PARTIAL RESULT OF IK IS STILL SET AS THE GOAL.

Definition at line 1796 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [3/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const geometry_msgs::msg::PoseStamped &	eef_pose,
		const std::string &	end_effector_link = ""
	)

Set the joint state goal for a particular joint by computing IK.

This is different from setPoseTarget() in that a single IK state (aka JointValueTarget) is computed using IK, and the resulting JointValueTarget is used as the target for planning.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If IK fails to find a solution then false is returned BUT THE PARTIAL RESULT OF IK IS STILL SET AS THE GOAL.

Definition at line 1802 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [4/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget

(

const moveit::core::RobotState &

robot_state

)

Set the JointValueTarget and use it for future planning requests.

The target for all joints in the group are set to the value in robot_state.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1763 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [5/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget

(

const sensor_msgs::msg::JointState &

state

)

Set the JointValueTarget and use it for future planning requests.

state is used to set the target joint state values. Values not specified in state remain unchanged.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1791 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [6/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget

(

const std::map< std::string, double > &

variable_values

)

Set the JointValueTarget and use it for future planning requests.

variable_values is a map of joint variable names to values. Joints in the group are used to set the JointValueTarget. Joints in the model but not in the group are ignored. An exception is thrown if a joint name is not found in the model. Joint variables in the group that are missing from variable_values remain unchanged (to reset all target variables to their current values in the robot use setJointValueTarget(getCurrentJointValues())).

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1726 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [7/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const std::string &	joint_name,
		const std::vector< double > &	values
	)

Set the JointValueTarget and use it for future planning requests.

values MUST have one value for each variable in joint joint_name. values are set as the target for this joint. Other joint targets remain unchanged.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1776 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [8/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const std::string &	joint_name,
		double	value
	)

Set the JointValueTarget and use it for future planning requests.

Joint joint_name must be a 1-DOF joint. value is set as the target for this joint. Other joint targets remain unchanged.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1770 of file move_group_interface.cpp.

Here is the call graph for this function:

setJointValueTarget() [9/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget

(

const std::vector< double > &

group_variable_values

)

Set the JointValueTarget and use it for future planning requests.

group_variable_values MUST exactly match the variable order as returned by getJointValueTarget(std::vector<double>&).

This always sets all of the group's joint values.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1711 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setJointValueTarget() [10/10]

bool moveit::planning_interface::MoveGroupInterface::setJointValueTarget	(	const std::vector< std::string > &	variable_names,
		const std::vector< double > &	variable_values
	)

Set the JointValueTarget and use it for future planning requests.

variable_names are variable joint names and variable_values are variable joint positions. Joints in the group are used to set the JointValueTarget. Joints in the model but not in the group are ignored. An exception is thrown if a joint name is not found in the model. Joint variables in the group that are missing from variable_names remain unchanged (to reset all target variables to their current values in the robot use setJointValueTarget(getCurrentJointValues())).

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

If these values are out of bounds then false is returned BUT THE VALUES ARE STILL SET AS THE GOAL.

Definition at line 1744 of file move_group_interface.cpp.

Here is the call graph for this function:

setLookAroundAttempts()

void moveit::planning_interface::MoveGroupInterface::setLookAroundAttempts

(

int32_t

attempts

)

How often is the system allowed to move the camera to update environment model when looking.

Definition at line 2236 of file move_group_interface.cpp.

setMaxAccelerationScalingFactor()

void moveit::planning_interface::MoveGroupInterface::setMaxAccelerationScalingFactor

(

double

max_acceleration_scaling_factor

)

Set a scaling factor for optionally reducing the maximum joint acceleration. Allowed values are in (0,1]. The maximum joint acceleration specified in the robot model is multiplied by the factor. If the value is 0, it is set to the default value, which is defined in joint_limits.yaml of the moveit_config. If the value is greater than 1, it is set to 1.0.

Definition at line 1510 of file move_group_interface.cpp.

Here is the call graph for this function:

setMaxVelocityScalingFactor()

void moveit::planning_interface::MoveGroupInterface::setMaxVelocityScalingFactor

(

double

max_velocity_scaling_factor

)

Set a scaling factor for optionally reducing the maximum joint velocity. Allowed values are in (0,1]. The maximum joint velocity specified in the robot model is multiplied by the factor. If the value is 0, it is set to the default value, which is defined in joint_limits.yaml of the moveit_config. If the value is greater than 1, it is set to 1.0.

Definition at line 1505 of file move_group_interface.cpp.

Here is the call graph for this function:

setNamedTarget()

bool moveit::planning_interface::MoveGroupInterface::setNamedTarget

(

const std::string &

name

)

Set the current joint values to be ones previously remembered by rememberJointValues() or, if not found, that are specified in the SRDF under the name name as a group state.

Definition at line 1687 of file move_group_interface.cpp.

Here is the call graph for this function:

setNumPlanningAttempts()

void moveit::planning_interface::MoveGroupInterface::setNumPlanningAttempts

(

unsigned int

num_planning_attempts

)

Set the number of times the motion plan is to be computed from scratch before the shortest solution is returned. The default value is 1.

Definition at line 1500 of file move_group_interface.cpp.

Here is the call graph for this function:

setOrientationTarget()

bool moveit::planning_interface::MoveGroupInterface::setOrientationTarget	(	double	x,
		double	y,
		double	z,
		double	w,
		const std::string &	end_effector_link = ""
	)

Set the goal orientation of the end-effector end_effector_link to be the quaternion (x,y,z,w).

If end_effector_link is empty then getEndEffectorLink() is used.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 2023 of file move_group_interface.cpp.

Here is the call graph for this function:

setPathConstraints() [1/2]

void moveit::planning_interface::MoveGroupInterface::setPathConstraints

(

const moveit_msgs::msg::Constraints &

constraint

)

Specify a set of path constraints to use. This version does not require a database server. This replaces any path constraints set in previous calls to setPathConstraints().

Definition at line 2296 of file move_group_interface.cpp.

Here is the call graph for this function:

setPathConstraints() [2/2]

bool moveit::planning_interface::MoveGroupInterface::setPathConstraints

(

const std::string &

constraint

)

Specify a set of path constraints to use. The constraints are looked up by name from the Mongo database server. This replaces any path constraints set in previous calls to setPathConstraints().

Definition at line 2291 of file move_group_interface.cpp.

Here is the call graph for this function:

setPlannerId()

void moveit::planning_interface::MoveGroupInterface::setPlannerId

(

const std::string &

planner_id

)

Specify a planner to be used for further planning.

Definition at line 1490 of file move_group_interface.cpp.

Here is the call graph for this function:

setPlannerParams()

void moveit::planning_interface::MoveGroupInterface::setPlannerParams	(	const std::string &	planner_id,
		const std::string &	group,
		const std::map< std::string, std::string > &	params,
		bool	bReplace = false
	)

Set the planner parameters for given group and planner_id.

Definition at line 1464 of file move_group_interface.cpp.

Here is the call graph for this function:

setPlanningPipelineId()

void moveit::planning_interface::MoveGroupInterface::setPlanningPipelineId

(

const std::string &

pipeline_id

)

Specify a planning pipeline to be used for further planning.

Definition at line 1475 of file move_group_interface.cpp.

Here is the call graph for this function:

setPlanningTime()

void moveit::planning_interface::MoveGroupInterface::setPlanningTime

(

double

seconds

)

Specify the maximum amount of time to use when planning.

Set time allowed to planner to solve problem before aborting.

Definition at line 2332 of file move_group_interface.cpp.

Here is the call graph for this function:

setPoseReferenceFrame()

void moveit::planning_interface::MoveGroupInterface::setPoseReferenceFrame

(

const std::string &

pose_reference_frame

)

Specify which reference frame to assume for poses specified without a reference frame.

Definition at line 2049 of file move_group_interface.cpp.

Here is the call graph for this function:

setPoseTarget() [1/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTarget	(	const Eigen::Isometry3d &	end_effector_pose,
		const std::string &	end_effector_link = ""
	)

Set the goal pose of the end-effector end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

This new pose target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 1880 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setPoseTarget() [2/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTarget	(	const geometry_msgs::msg::Pose &	target,
		const std::string &	end_effector_link = ""
	)

Set the goal pose of the end-effector end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 1889 of file move_group_interface.cpp.

Here is the call graph for this function:

setPoseTarget() [3/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTarget	(	const geometry_msgs::msg::PoseStamped &	target,
		const std::string &	end_effector_link = ""
	)

Set the goal pose of the end-effector end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 1898 of file move_group_interface.cpp.

Here is the call graph for this function:

setPoseTargets() [1/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTargets	(	const EigenSTL::vector_Isometry3d &	end_effector_pose,
		const std::string &	end_effector_link = ""
	)

Set goal poses for end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

When planning, the planner will find a path to one (arbitrarily chosen) pose from the list. If this group contains multiple end effectors then all end effectors in the group should have the same number of pose targets. If planning is successful then the result of the plan will place all end effectors at a pose from the same index in the list. (In other words, if one end effector ends up at the 3rd pose in the list then all end effectors in the group will end up at the 3rd pose in their respective lists. End effectors which do not matter (i.e. can end up in any position) can have their pose targets disabled by calling clearPoseTarget() for that end_effector_link.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target(s) for this end_effector_link.

Definition at line 1905 of file move_group_interface.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

setPoseTargets() [2/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTargets	(	const std::vector< geometry_msgs::msg::Pose > &	target,
		const std::string &	end_effector_link = ""
	)

Set goal poses for end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

When planning, the planner will find a path to one (arbitrarily chosen) pose from the list. If this group contains multiple end effectors then all end effectors in the group should have the same number of pose targets. If planning is successful then the result of the plan will place all end effectors at a pose from the same index in the list. (In other words, if one end effector ends up at the 3rd pose in the list then all end effectors in the group will end up at the 3rd pose in their respective lists. End effectors which do not matter (i.e. can end up in any position) can have their pose targets disabled by calling clearPoseTarget() for that end_effector_link.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target(s) for this end_effector_link.

Definition at line 1919 of file move_group_interface.cpp.

Here is the call graph for this function:

setPoseTargets() [3/3]

bool moveit::planning_interface::MoveGroupInterface::setPoseTargets	(	const std::vector< geometry_msgs::msg::PoseStamped > &	target,
		const std::string &	end_effector_link = ""
	)

Set goal poses for end_effector_link.

If end_effector_link is empty then getEndEffectorLink() is used.

When planning, the planner will find a path to one (arbitrarily chosen) pose from the list. If this group contains multiple end effectors then all end effectors in the group should have the same number of pose targets. If planning is successful then the result of the plan will place all end effectors at a pose from the same index in the list. (In other words, if one end effector ends up at the 3rd pose in the list then all end effectors in the group will end up at the 3rd pose in their respective lists. End effectors which do not matter (i.e. can end up in any position) can have their pose targets disabled by calling clearPoseTarget() for that end_effector_link.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target(s) for this end_effector_link.

Definition at line 1934 of file move_group_interface.cpp.

Here is the call graph for this function:

setPositionTarget()

bool moveit::planning_interface::MoveGroupInterface::setPositionTarget	(	double	x,
		double	y,
		double	z,
		const std::string &	end_effector_link = ""
	)

Set the goal position of the end-effector end_effector_link to be (x, y, z).

If end_effector_link is empty then getEndEffectorLink() is used.

This new position target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 1975 of file move_group_interface.cpp.

Here is the call graph for this function:

setRandomTarget()

void moveit::planning_interface::MoveGroupInterface::setRandomTarget

(

)

Set the joint state goal to a random joint configuration.

After this call, the JointValueTarget is used instead of any previously set Position, Orientation, or Pose targets.

Definition at line 1651 of file move_group_interface.cpp.

Here is the call graph for this function:

setReplanAttempts()

void moveit::planning_interface::MoveGroupInterface::setReplanAttempts

(

int32_t

attempts

)

Maximum number of replanning attempts.

Definition at line 2255 of file move_group_interface.cpp.

setReplanDelay()

void moveit::planning_interface::MoveGroupInterface::setReplanDelay

(

double

delay

)

Sleep this duration between replanning attempts (in walltime seconds)

Definition at line 2268 of file move_group_interface.cpp.

setRPYTarget()

bool moveit::planning_interface::MoveGroupInterface::setRPYTarget	(	double	roll,
		double	pitch,
		double	yaw,
		const std::string &	end_effector_link = ""
	)

Set the goal orientation of the end-effector end_effector_link to be (roll,pitch,yaw) radians.

If end_effector_link is empty then getEndEffectorLink() is used.

This new orientation target replaces any pre-existing JointValueTarget or pre-existing Position, Orientation, or Pose target for this end_effector_link.

Definition at line 2000 of file move_group_interface.cpp.

Here is the call graph for this function:

setStartState() [1/2]

void moveit::planning_interface::MoveGroupInterface::setStartState

(

const moveit::core::RobotState &

start_state

)

If a different start state should be considered instead of the current state of the robot, this function sets that state.

Definition at line 1641 of file move_group_interface.cpp.

Here is the call graph for this function:

setStartState() [2/2]

void moveit::planning_interface::MoveGroupInterface::setStartState

(

const moveit_msgs::msg::RobotState &

start_state

)

If a different start state should be considered instead of the current state of the robot, this function sets that state.

Definition at line 1627 of file move_group_interface.cpp.

Here is the call graph for this function:

setStartStateToCurrentState()

void moveit::planning_interface::MoveGroupInterface::setStartStateToCurrentState

(

)

Set the starting state for planning to be that reported by the robot's joint state publication.

Definition at line 1646 of file move_group_interface.cpp.

Here is the call graph for this function:

setSupportSurfaceName()

void moveit::planning_interface::MoveGroupInterface::setSupportSurfaceName

(

const std::string &

name

)

For pick/place operations, the name of the support surface is used to specify the fact that attached objects are allowed to touch the support surface.

Definition at line 2343 of file move_group_interface.cpp.

Here is the call graph for this function:

setTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::setTrajectoryConstraints

(

const moveit_msgs::msg::TrajectoryConstraints &

constraint

)

Definition at line 2311 of file move_group_interface.cpp.

Here is the call graph for this function:

setWorkspace()

void moveit::planning_interface::MoveGroupInterface::setWorkspace	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)

Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world.

Definition at line 2326 of file move_group_interface.cpp.

Here is the call graph for this function:

startStateMonitor()

bool moveit::planning_interface::MoveGroupInterface::startStateMonitor

(

double

wait = 1.0

)

When reasoning about the current state of a robot, a CurrentStateMonitor instance is automatically constructed. This function allows triggering the construction of that object from the beginning, so that future calls to functions such as getCurrentState() will not take so long and are less likely to fail.

Definition at line 2101 of file move_group_interface.cpp.

Here is the call graph for this function:

stop()

void moveit::planning_interface::MoveGroupInterface::stop

(

)

Stop any trajectory execution, if one is active.

Definition at line 1622 of file move_group_interface.cpp.

Here is the call graph for this function:

Member Data Documentation

ROBOT_DESCRIPTION

const std::string moveit::planning_interface::MoveGroupInterface::ROBOT_DESCRIPTION

static

Initial value:

=
    "robot_description"

Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description'.

Definition at line 84 of file move_group_interface.h.

---

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

• moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
• moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp