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The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Static Public Attributes | List of all members
planning_pipeline::PlanningPipeline Class Reference

This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order. More...

#include <planning_pipeline.h>

Public Member Functions

 PlanningPipeline (const moveit::core::RobotModelConstPtr &model, const std::shared_ptr< rclcpp::Node > &node, const std::string &parameter_namespace, const std::string &planning_plugin_param_name="planning_plugin", const std::string &adapter_plugins_param_name="request_adapters")
 Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline. More...
 
 PlanningPipeline (const moveit::core::RobotModelConstPtr &model, const std::shared_ptr< rclcpp::Node > &node, const std::string &parameter_namespace, const std::string &planning_plugin_name, const std::vector< std::string > &adapter_plugin_names)
 Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline. More...
 
void displayComputedMotionPlans (bool flag)
 Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true. More...
 
void publishReceivedRequests (bool flag)
 Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false. More...
 
void checkSolutionPaths (bool flag)
 Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default.
More...
 
bool getDisplayComputedMotionPlans () const
 Get the flag set by displayComputedMotionPlans() More...
 
bool getPublishReceivedRequests () const
 Get the flag set by publishReceivedRequests() More...
 
bool getCheckSolutionPaths () const
 Get the flag set by checkSolutionPaths() More...
 
bool generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
 Call the motion planner plugin and the sequence of planning request adapters (if any). More...
 
bool generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &adapter_added_state_index) const
 Call the motion planner plugin and the sequence of planning request adapters (if any). More...
 
void terminate () const
 Request termination, if a generatePlan() function is currently computing plans. More...
 
const std::string & getPlannerPluginName () const
 Get the name of the planning plugin used. More...
 
const std::vector< std::string > & getAdapterPluginNames () const
 Get the names of the planning request adapter plugins used. More...
 
const planning_interface::PlannerManagerPtr & getPlannerManager ()
 Get the planner manager for the loaded planning plugin. More...
 
const moveit::core::RobotModelConstPtr & getRobotModel () const
 Get the robot model that this pipeline is using. More...
 

Static Public Attributes

static const std::string DISPLAY_PATH_TOPIC = "display_planned_path"
 When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::msg::DisplauTrajectory) More...
 
static const std::string MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"
 When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::msg::MotionPlanRequest) More...
 
static const std::string MOTION_CONTACTS_TOPIC = "display_contacts"
 When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray) More...
 

Detailed Description

This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order.

Definition at line 59 of file planning_pipeline.h.

Constructor & Destructor Documentation

◆ PlanningPipeline() [1/2]

planning_pipeline::PlanningPipeline::PlanningPipeline ( const moveit::core::RobotModelConstPtr &  model,
const std::shared_ptr< rclcpp::Node > &  node,
const std::string &  parameter_namespace,
const std::string &  planning_plugin_param_name = "planning_plugin",
const std::string &  adapter_plugins_param_name = "request_adapters" 
)

Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline.

Parameters
modelThe robot model for which this pipeline is initialized.
nodeThe ROS node that should be used for reading parameters needed for configuration
theparameter namespace where the planner configurations are stored
planning_plugin_param_nameThe name of the ROS parameter under which the name of the planning plugin is specified
adapter_plugins_param_nameThe name of the ROS parameter under which the names of the request adapter plugins are specified (plugin names separated by space; order matters)

Definition at line 51 of file planning_pipeline.cpp.

◆ PlanningPipeline() [2/2]

planning_pipeline::PlanningPipeline::PlanningPipeline ( const moveit::core::RobotModelConstPtr &  model,
const std::shared_ptr< rclcpp::Node > &  node,
const std::string &  parameter_namespace,
const std::string &  planning_plugin_name,
const std::vector< std::string > &  adapter_plugin_names 
)

Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline.

Parameters
modelThe robot model for which this pipeline is initialized.
nodeThe ROS node that should be used for reading parameters needed for configuration
theparameter namespace where the planner configurations are stored
planning_plugin_nameThe name of the planning plugin to load
adapter_plugins_namesThe names of the planning request adapter plugins to load

Definition at line 83 of file planning_pipeline.cpp.

Member Function Documentation

◆ checkSolutionPaths()

void planning_pipeline::PlanningPipeline::checkSolutionPaths ( bool  flag)

Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default.

Definition at line 221 of file planning_pipeline.cpp.

◆ displayComputedMotionPlans()

void planning_pipeline::PlanningPipeline::displayComputedMotionPlans ( bool  flag)

Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true.

Definition at line 198 of file planning_pipeline.cpp.

◆ generatePlan() [1/2]

bool planning_pipeline::PlanningPipeline::generatePlan ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const planning_interface::MotionPlanRequest req,
planning_interface::MotionPlanResponse res 
) const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters
planning_sceneThe planning scene where motion planning is to be done
reqThe request for motion planning
resThe motion planning response

Definition at line 232 of file planning_pipeline.cpp.

◆ generatePlan() [2/2]

bool planning_pipeline::PlanningPipeline::generatePlan ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const planning_interface::MotionPlanRequest req,
planning_interface::MotionPlanResponse res,
std::vector< std::size_t > &  adapter_added_state_index 
) const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters
planning_sceneThe planning scene where motion planning is to be done
reqThe request for motion planning
resThe motion planning response
adapter_added_state_indexSometimes planning request adapters may add states on the solution path (e.g., add the current state of the robot as prefix, when the robot started to plan only from near that state, as the current state itself appears to touch obstacles). This is helpful because the added states should not be considered invalid in all situations.

Definition at line 240 of file planning_pipeline.cpp.

◆ getAdapterPluginNames()

const std::vector<std::string>& planning_pipeline::PlanningPipeline::getAdapterPluginNames ( ) const
inline

Get the names of the planning request adapter plugins used.

Definition at line 159 of file planning_pipeline.h.

◆ getCheckSolutionPaths()

bool planning_pipeline::PlanningPipeline::getCheckSolutionPaths ( ) const
inline

Get the flag set by checkSolutionPaths()

Definition at line 124 of file planning_pipeline.h.

◆ getDisplayComputedMotionPlans()

bool planning_pipeline::PlanningPipeline::getDisplayComputedMotionPlans ( ) const
inline

Get the flag set by displayComputedMotionPlans()

Definition at line 112 of file planning_pipeline.h.

◆ getPlannerManager()

const planning_interface::PlannerManagerPtr& planning_pipeline::PlanningPipeline::getPlannerManager ( )
inline

Get the planner manager for the loaded planning plugin.

Definition at line 165 of file planning_pipeline.h.

◆ getPlannerPluginName()

const std::string& planning_pipeline::PlanningPipeline::getPlannerPluginName ( ) const
inline

Get the name of the planning plugin used.

Definition at line 153 of file planning_pipeline.h.

◆ getPublishReceivedRequests()

bool planning_pipeline::PlanningPipeline::getPublishReceivedRequests ( ) const
inline

Get the flag set by publishReceivedRequests()

Definition at line 118 of file planning_pipeline.h.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& planning_pipeline::PlanningPipeline::getRobotModel ( ) const
inline

Get the robot model that this pipeline is using.

Definition at line 171 of file planning_pipeline.h.

◆ publishReceivedRequests()

void planning_pipeline::PlanningPipeline::publishReceivedRequests ( bool  flag)

Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false.

Definition at line 209 of file planning_pipeline.cpp.

◆ terminate()

void planning_pipeline::PlanningPipeline::terminate ( ) const

Request termination, if a generatePlan() function is currently computing plans.

Definition at line 406 of file planning_pipeline.cpp.

Member Data Documentation

◆ DISPLAY_PATH_TOPIC

const std::string planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC = "display_planned_path"
static

When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::msg::DisplauTrajectory)

Definition at line 64 of file planning_pipeline.h.

◆ MOTION_CONTACTS_TOPIC

const std::string planning_pipeline::PlanningPipeline::MOTION_CONTACTS_TOPIC = "display_contacts"
static

When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray)

Definition at line 72 of file planning_pipeline.h.

◆ MOTION_PLAN_REQUEST_TOPIC

const std::string planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"
static

When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::msg::MotionPlanRequest)

Definition at line 68 of file planning_pipeline.h.


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