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

model	The robot model for which this pipeline is initialized.
node	The ROS node that should be used for reading parameters needed for configuration
the	parameter namespace where the planner configurations are stored
planning_plugin_param_name	The name of the ROS parameter under which the name of the planning plugin is specified
adapter_plugins_param_name	The 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

model	The robot model for which this pipeline is initialized.
node	The ROS node that should be used for reading parameters needed for configuration
the	parameter namespace where the planner configurations are stored
planning_plugin_name	The name of the planning plugin to load
adapter_plugins_names	The 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_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The 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_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The motion planning response
adapter_added_state_index	Sometimes 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:

moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningPipeline() [1/2]

◆ PlanningPipeline() [2/2]

Member Function Documentation

◆ checkSolutionPaths()

◆ displayComputedMotionPlans()

◆ generatePlan() [1/2]

◆ generatePlan() [2/2]

◆ getAdapterPluginNames()

◆ getCheckSolutionPaths()

◆ getDisplayComputedMotionPlans()

◆ getPlannerManager()

◆ getPlannerPluginName()

◆ getPublishReceivedRequests()

◆ getRobotModel()

◆ publishReceivedRequests()

◆ terminate()

Member Data Documentation

◆ DISPLAY_PATH_TOPIC

◆ MOTION_CONTACTS_TOPIC

◆ MOTION_PLAN_REQUEST_TOPIC