moveit::planning_interface Namespace Reference

Simple interface to MoveIt components. More...

Classes
class	MoveGroupInterface
	Client class to conveniently use the ROS interfaces provided by the move_group node. More...
class	PlanningSceneInterface
class	MoveItCppTest

Typedefs
using	MoveItCpp = moveit_cpp::MoveItCpp
using	PlanningComponent = moveit_cpp::PlanningComponent
using	MoveItErrorCode = moveit::core::MoveItErrorCode

Functions
	MOVEIT_DECLARE_PTR (MoveItCpp, moveit_cpp::MoveItCpp)
	MOVEIT_DECLARE_PTR (PlanningComponent, moveit_cpp::PlanningComponent)
std::shared_ptr< tf2_ros::Buffer >	getSharedTF ()
robot_model_loader::RobotModelLoaderPtr	getSharedRobotModelLoader (const rclcpp::Node::SharedPtr &node, const std::string &robot_description)
moveit::core::RobotModelConstPtr	getSharedRobotModel (const rclcpp::Node::SharedPtr &node, const std::string &robot_description)
planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer)
	getSharedStateMonitor More...
	MOVEIT_CLASS_FORWARD (MoveGroupInterface)
	MOVEIT_CLASS_FORWARD (PlanningSceneInterface)
	TEST_F (MoveItCppTest, GetCurrentStateTest)
	TEST_F (MoveItCppTest, NameOfPlanningGroupTest)
	TEST_F (MoveItCppTest, TestSetStartStateToCurrentState)
	TEST_F (MoveItCppTest, TestSetGoalFromPoseStamped)
	TEST_F (MoveItCppTest, TestSetStartStateFromRobotState)
	TEST_F (MoveItCppTest, TestSetGoalFromRobotState)

Variables
const std::string	GRASP_PLANNING_SERVICE_NAME = "plan_grasps"
const rclcpp::Logger	LOGGER = rclcpp::get_logger("move_group_interface")

Detailed Description

Simple interface to MoveIt components.

Typedef Documentation

MoveItCpp

using moveit::planning_interface::MoveItCpp = typedef moveit_cpp::MoveItCpp

Definition at line 204 of file moveit_cpp.h.

MoveItErrorCode

using moveit::planning_interface::MoveItErrorCode = typedef moveit::core::MoveItErrorCode

Definition at line 71 of file move_group_interface.h.

PlanningComponent

using moveit::planning_interface::PlanningComponent = typedef moveit_cpp::PlanningComponent

Definition at line 205 of file planning_component.h.

Function Documentation

getSharedRobotModel()

moveit::core::RobotModelConstPtr moveit::planning_interface::getSharedRobotModel	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description
	)

Definition at line 115 of file common_objects.cpp.

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getSharedRobotModelLoader()

robot_model_loader::RobotModelLoaderPtr moveit::planning_interface::getSharedRobotModelLoader	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description
	)

Definition at line 97 of file common_objects.cpp.

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getSharedStateMonitor()

CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const moveit::core::RobotModelConstPtr &	robot_model,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer
	)

getSharedStateMonitor

Parameters

node	A rclcpp::Node::SharePtr to pass node specific configurations, such as callbacks queues.
robot_model
tf_buffer

Returns

Definition at line 132 of file common_objects.cpp.

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getSharedTF()

std::shared_ptr< tf2_ros::Buffer > moveit::planning_interface::getSharedTF

(

)

Definition at line 83 of file common_objects.cpp.

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MOVEIT_CLASS_FORWARD() [1/2]

moveit::planning_interface::MOVEIT_CLASS_FORWARD

(

MoveGroupInterface

)

MOVEIT_CLASS_FORWARD() [2/2]

moveit::planning_interface::MOVEIT_CLASS_FORWARD

(

PlanningSceneInterface

)

MOVEIT_DECLARE_PTR() [1/2]

moveit::planning_interface::MOVEIT_DECLARE_PTR	(	MoveItCpp	,
		moveit_cpp::MoveItCpp
	)

MOVEIT_DECLARE_PTR() [2/2]

moveit::planning_interface::MOVEIT_DECLARE_PTR	(	PlanningComponent	,
		moveit_cpp::PlanningComponent
	)

TEST_F() [1/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		GetCurrentStateTest
	)

Definition at line 102 of file moveit_cpp_test.cpp.

TEST_F() [2/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		NameOfPlanningGroupTest
	)

Definition at line 121 of file moveit_cpp_test.cpp.

TEST_F() [3/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetGoalFromPoseStamped
	)

Definition at line 137 of file moveit_cpp_test.cpp.

TEST_F() [4/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetGoalFromRobotState
	)

Definition at line 157 of file moveit_cpp_test.cpp.

TEST_F() [5/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetStartStateFromRobotState
	)

Definition at line 145 of file moveit_cpp_test.cpp.

TEST_F() [6/6]

moveit::planning_interface::TEST_F	(	MoveItCppTest	,
		TestSetStartStateToCurrentState
	)

Definition at line 127 of file moveit_cpp_test.cpp.

Variable Documentation

GRASP_PLANNING_SERVICE_NAME

const std::string moveit::planning_interface::GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

Definition at line 74 of file move_group_interface.cpp.

LOGGER

static const rclcpp::Logger moveit::planning_interface::LOGGER = rclcpp::get_logger("move_group_interface")

Definition at line 75 of file move_group_interface.cpp.