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 1402 of file move_group_interface.cpp.

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◆ 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 1392 of file move_group_interface.cpp.

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◆ ~MoveGroupInterface()

moveit::planning_interface::MoveGroupInterface::~MoveGroupInterface ( )

Definition at line 1409 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 1414 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 2223 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 2242 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 1537 of file move_group_interface.cpp.

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◆ 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 1532 of file move_group_interface.cpp.

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◆ 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 1517 of file move_group_interface.cpp.

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◆ 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 2356 of file move_group_interface.cpp.

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◆ 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 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 2351 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 2294 of file move_group_interface.cpp.

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◆ clearPoseTarget()

void moveit::planning_interface::MoveGroupInterface::clearPoseTarget ( const std::string & end_effector_link = "" )

Forget pose(s) specified for end_effector_link.

Definition at line 1863 of file move_group_interface.cpp.

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◆ clearPoseTargets()

void moveit::planning_interface::MoveGroupInterface::clearPoseTargets ( )

Forget any poses specified for all end-effectors.

Definition at line 1868 of file move_group_interface.cpp.

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◆ clearTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::clearTrajectoryConstraints ( )

Definition at line 2309 of file move_group_interface.cpp.

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◆ 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 1597 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 1606 of file move_group_interface.cpp.

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◆ 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 2367 of file move_group_interface.cpp.

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◆ 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 2362 of file move_group_interface.cpp.

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◆ 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 1547 of file move_group_interface.cpp.

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◆ 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 1542 of file move_group_interface.cpp.

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◆ forgetJointValues()

void moveit::planning_interface::MoveGroupInterface::forgetJointValues ( const std::string & name )

Forget the joint values remembered under name.

Definition at line 2218 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 2191 of file move_group_interface.cpp.

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◆ 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 2099 of file move_group_interface.cpp.

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◆ 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 2140 of file move_group_interface.cpp.

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◆ 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 2164 of file move_group_interface.cpp.

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◆ 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 2206 of file move_group_interface.cpp.

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◆ 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 1487 of file move_group_interface.cpp.

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◆ getDefaultPlanningPipelineId()

std::string moveit::planning_interface::MoveGroupInterface::getDefaultPlanningPipelineId ( ) const

Definition at line 1472 of file move_group_interface.cpp.

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◆ 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 1841 of file move_group_interface.cpp.

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◆ 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 1836 of file move_group_interface.cpp.

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◆ 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 2052 of file move_group_interface.cpp.

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◆ 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 2062 of file move_group_interface.cpp.

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◆ 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 2057 of file move_group_interface.cpp.

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◆ 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 1450 of file move_group_interface.cpp.

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◆ 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 1455 of file move_group_interface.cpp.

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◆ getJointModelGroupNames()

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

Get the available planning group names.

Definition at line 2346 of file move_group_interface.cpp.

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◆ 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 1650 of file move_group_interface.cpp.

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◆ 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 2196 of file move_group_interface.cpp.

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◆ 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 1826 of file move_group_interface.cpp.

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◆ 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 1699 of file move_group_interface.cpp.

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◆ 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 2274 of file move_group_interface.cpp.

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◆ 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 1655 of file move_group_interface.cpp.

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◆ 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 1522 of file move_group_interface.cpp.

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◆ getName()

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

Get the name of the group this instance operates on.

Definition at line 1433 of file move_group_interface.cpp.

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◆ 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 1438 of file move_group_interface.cpp.

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◆ 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 1660 of file move_group_interface.cpp.

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◆ 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 2279 of file move_group_interface.cpp.

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◆ getPlannerId()

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

Get the current planner_id.

Definition at line 1497 of file move_group_interface.cpp.

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◆ 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 1460 of file move_group_interface.cpp.

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◆ 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 2341 of file move_group_interface.cpp.

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◆ getPlanningPipelineId()

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

Get the current planning_pipeline_id.

Definition at line 1482 of file move_group_interface.cpp.

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◆ 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 2331 of file move_group_interface.cpp.

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◆ 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 2047 of file move_group_interface.cpp.

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◆ 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 1942 of file move_group_interface.cpp.

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◆ 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 1948 of file move_group_interface.cpp.

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◆ 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 2108 of file move_group_interface.cpp.

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◆ 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 2115 of file move_group_interface.cpp.

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◆ 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 1445 of file move_group_interface.cpp.

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◆ 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 1831 of file move_group_interface.cpp.

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◆ getTrajectoryConstraints()

moveit_msgs::msg::TrajectoryConstraints moveit::planning_interface::MoveGroupInterface::getTrajectoryConstraints ( ) const

Definition at line 2299 of file move_group_interface.cpp.

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◆ 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 2201 of file move_group_interface.cpp.

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◆ 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 1527 of file move_group_interface.cpp.

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◆ 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 1420 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 1552 of file move_group_interface.cpp.

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◆ 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 2089 of file move_group_interface.cpp.

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◆ 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 2213 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 1819 of file move_group_interface.cpp.

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◆ 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 1807 of file move_group_interface.cpp.

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◆ 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 1813 of file move_group_interface.cpp.

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◆ 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 2314 of file move_group_interface.cpp.

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◆ 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 1855 of file move_group_interface.cpp.

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◆ 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 1846 of file move_group_interface.cpp.

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◆ 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 2074 of file move_group_interface.cpp.

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◆ 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 2084 of file move_group_interface.cpp.

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◆ 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 2079 of file move_group_interface.cpp.

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◆ 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 2067 of file move_group_interface.cpp.

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◆ 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 1801 of file move_group_interface.cpp.

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◆ 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 1789 of file move_group_interface.cpp.

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◆ 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 1795 of file move_group_interface.cpp.

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◆ 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 1756 of file move_group_interface.cpp.

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◆ 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 1784 of file move_group_interface.cpp.

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◆ 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 1719 of file move_group_interface.cpp.

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◆ 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 1769 of file move_group_interface.cpp.

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◆ 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 1763 of file move_group_interface.cpp.

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◆ 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 1704 of file move_group_interface.cpp.

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◆ 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 1737 of file move_group_interface.cpp.

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◆ 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 2229 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 1512 of file move_group_interface.cpp.

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◆ 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 1507 of file move_group_interface.cpp.

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◆ 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 1680 of file move_group_interface.cpp.

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◆ 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 1502 of file move_group_interface.cpp.

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◆ 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 2016 of file move_group_interface.cpp.

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◆ 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 2289 of file move_group_interface.cpp.

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◆ 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 2284 of file move_group_interface.cpp.

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◆ setPlannerId()

void moveit::planning_interface::MoveGroupInterface::setPlannerId ( const std::string & planner_id )

Specify a planner to be used for further planning.

Definition at line 1492 of file move_group_interface.cpp.

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◆ 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 1466 of file move_group_interface.cpp.

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◆ 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 1477 of file move_group_interface.cpp.

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◆ 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 2325 of file move_group_interface.cpp.

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◆ 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 2042 of file move_group_interface.cpp.

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◆ 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 1873 of file move_group_interface.cpp.

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◆ 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 1882 of file move_group_interface.cpp.

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◆ 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 1891 of file move_group_interface.cpp.

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◆ 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 1898 of file move_group_interface.cpp.

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◆ 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 1912 of file move_group_interface.cpp.

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◆ 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 1927 of file move_group_interface.cpp.

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◆ 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 1968 of file move_group_interface.cpp.

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◆ 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 1644 of file move_group_interface.cpp.

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◆ setReplanAttempts()

void moveit::planning_interface::MoveGroupInterface::setReplanAttempts ( int32_t attempts )

Maximum number of replanning attempts.

Definition at line 2248 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 2261 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 1993 of file move_group_interface.cpp.

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◆ 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 1634 of file move_group_interface.cpp.

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◆ 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 1629 of file move_group_interface.cpp.

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◆ 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 1639 of file move_group_interface.cpp.

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◆ 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 2336 of file move_group_interface.cpp.

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◆ setTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::setTrajectoryConstraints ( const moveit_msgs::msg::TrajectoryConstraints & constraint )

Definition at line 2304 of file move_group_interface.cpp.

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◆ 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 2319 of file move_group_interface.cpp.

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◆ 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 2094 of file move_group_interface.cpp.

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◆ stop()

void moveit::planning_interface::MoveGroupInterface::stop ( )

Stop any trajectory execution, if one is active.

Definition at line 1624 of file move_group_interface.cpp.

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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

Classes

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MoveGroupInterface() [1/4]

◆ MoveGroupInterface() [2/4]

◆ ~MoveGroupInterface()

◆ MoveGroupInterface() [3/4]

◆ MoveGroupInterface() [4/4]

Member Function Documentation

◆ allowLooking()

◆ allowReplanning()

◆ asyncExecute() [1/2]

◆ asyncExecute() [2/2]

◆ asyncMove()

◆ attachObject() [1/2]

◆ attachObject() [2/2]

◆ clearPathConstraints()

◆ clearPoseTarget()

◆ clearPoseTargets()

◆ clearTrajectoryConstraints()

◆ computeCartesianPath() [1/2]

◆ computeCartesianPath() [2/2]

◆ constructMotionPlanRequest()

◆ detachObject()

◆ execute() [1/2]

◆ execute() [2/2]

◆ forgetJointValues()

◆ getActiveJoints()

◆ getCurrentJointValues()

◆ getCurrentPose()

◆ getCurrentRPY()

◆ getCurrentState()

◆ getDefaultPlannerId()

◆ getDefaultPlanningPipelineId()

◆ getEndEffector()

◆ getEndEffectorLink()

◆ getGoalJointTolerance()

◆ getGoalOrientationTolerance()

◆ getGoalPositionTolerance()

◆ getInterfaceDescription()

◆ getInterfaceDescriptions()

◆ getJointModelGroupNames()

◆ getJointNames()

◆ getJoints()

◆ getJointValueTarget() [1/2]

◆ getJointValueTarget() [2/2]

◆ getKnownConstraints()

◆ getLinkNames()

◆ getMoveGroupClient()

◆ getName()

◆ getNamedTargets()

◆ getNamedTargetValues()

◆ getNodeHandle()

◆ getPathConstraints()

◆ getPlannerId()

◆ getPlannerParams()

◆ getPlanningFrame()

◆ getPlanningPipelineId()

◆ getPlanningTime()

◆ getPoseReferenceFrame()

◆ getPoseTarget()

◆ getPoseTargets()

◆ getRandomJointValues()

◆ getRandomPose()

◆ getRememberedJointValues()

◆ getRobotModel()

◆ getTargetRobotState()

◆ getTrajectoryConstraints()

◆ getVariableCount()

◆ move()

◆ MOVEIT_STRUCT_FORWARD()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan()

◆ rememberJointValues() [1/2]

◆ rememberJointValues() [2/2]

◆ setApproximateJointValueTarget() [1/3]