A (simple) semantic world representation for pick and place and other tasks. More...

#include <semantic_world.h>

Public Types
typedef std::function< void()>	TableCallbackFn
	The signature for a callback on receiving table messages. More...

Public Member Functions
	SemanticWorld (const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningSceneConstPtr &planning_scene)
	A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables. More...

object_recognition_msgs::msg::TableArray	getTablesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

std::vector< std::string >	getTableNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

std::vector< geometry_msgs::msg::PoseStamped >	generatePlacePoses (const std::string &table_name, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::msg::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

std::vector< geometry_msgs::msg::PoseStamped >	generatePlacePoses (const object_recognition_msgs::msg::Table &table, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::msg::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

std::vector< geometry_msgs::msg::PoseStamped >	generatePlacePoses (const object_recognition_msgs::msg::Table &table, double resolution, double height_above_table, double delta_height=0.01, unsigned int num_heights=2, double min_distance_from_edge=0.10) const
	Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table. More...

void	clear ()

bool	addTablesToCollisionWorld ()

visualization_msgs::msg::MarkerArray	getPlaceLocationsMarker (const std::vector< geometry_msgs::msg::PoseStamped > &poses) const

void	addTableCallback (const TableCallbackFn &table_callback)

std::string	findObjectTable (const geometry_msgs::msg::Pose &pose, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

bool	isInsideTableContour (const geometry_msgs::msg::Pose &pose, const object_recognition_msgs::msg::Table &table, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

Detailed Description

A (simple) semantic world representation for pick and place and other tasks.

Definition at line 60 of file semantic_world.h.

Member Typedef Documentation

◆ TableCallbackFn

typedef std::function<void()> moveit::semantic_world::SemanticWorld::TableCallbackFn

The signature for a callback on receiving table messages.

Definition at line 64 of file semantic_world.h.

Constructor & Destructor Documentation

◆ SemanticWorld()

moveit::semantic_world::SemanticWorld::SemanticWorld	(	const rclcpp::Node::SharedPtr &	node,
		const planning_scene::PlanningSceneConstPtr &	planning_scene
	)

A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables.

Definition at line 63 of file semantic_world.cpp.

Member Function Documentation

◆ addTableCallback()

void moveit::semantic_world::SemanticWorld::addTableCallback ( const TableCallbackFn & table_callback )

inline

Definition at line 123 of file semantic_world.h.

◆ addTablesToCollisionWorld()

bool moveit::semantic_world::SemanticWorld::addTablesToCollisionWorld ( )

Definition at line 106 of file semantic_world.cpp.

◆ clear()

void moveit::semantic_world::SemanticWorld::clear ( )

Definition at line 217 of file semantic_world.cpp.

◆ findObjectTable()

std::string moveit::semantic_world::SemanticWorld::findObjectTable	(	const geometry_msgs::msg::Pose &	pose,
		double	min_distance_from_edge = `0.0`,
		double	min_vertical_offset = `0.0`
	)		const

Definition at line 463 of file semantic_world.cpp.

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◆ generatePlacePoses() [1/3]

std::vector< geometry_msgs::msg::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::msg::Table &	table,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::msg::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 244 of file semantic_world.cpp.

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◆ generatePlacePoses() [2/3]

std::vector< geometry_msgs::msg::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::msg::Table &	table,
		double	resolution,
		double	height_above_table,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`,
		double	min_distance_from_edge = `0.10`
	)		const

Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table.

Definition at line 320 of file semantic_world.cpp.

◆ generatePlacePoses() [3/3]

std::vector< geometry_msgs::msg::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const std::string &	table_name,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::msg::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 224 of file semantic_world.cpp.

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◆ getPlaceLocationsMarker()

visualization_msgs::msg::MarkerArray moveit::semantic_world::SemanticWorld::getPlaceLocationsMarker ( const std::vector< geometry_msgs::msg::PoseStamped > & poses ) const

Definition at line 79 of file semantic_world.cpp.

◆ getTableNamesInROI()

std::vector< std::string > moveit::semantic_world::SemanticWorld::getTableNamesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const

Get all the tables within a region of interest.

Definition at line 200 of file semantic_world.cpp.

◆ getTablesInROI()

object_recognition_msgs::msg::TableArray moveit::semantic_world::SemanticWorld::getTablesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const