PlanningSceneMonitor Subscribes to the topic planning_scene. More...

#include <planning_scene_monitor.h>

Public Types
enum	SceneUpdateType { UPDATE_NONE = 0 , UPDATE_STATE = 1 , UPDATE_TRANSFORMS = 2 , UPDATE_GEOMETRY = 4 , UPDATE_SCENE = 8 + UPDATE_STATE + UPDATE_TRANSFORMS + UPDATE_GEOMETRY }

Public Member Functions
	PlanningSceneMonitor (const PlanningSceneMonitor &)=delete
	PlanningSceneMonitor cannot be copy-constructed. More...

PlanningSceneMonitor &	operator= (const PlanningSceneMonitor &)=delete
	PlanningSceneMonitor cannot be copy-assigned. More...

	PlanningSceneMonitor (const rclcpp::Node::SharedPtr &node, const std::string &robot_description, const std::string &name="")
	Constructor. More...

	PlanningSceneMonitor (const rclcpp::Node::SharedPtr &node, const robot_model_loader::RobotModelLoaderPtr &rml, const std::string &name="")
	Constructor. More...

	PlanningSceneMonitor (const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene, const std::string &robot_description, const std::string &name="")
	Constructor. More...

	PlanningSceneMonitor (const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene, const robot_model_loader::RobotModelLoaderPtr &rml, const std::string &name="")
	Constructor. More...

	~PlanningSceneMonitor ()

const std::string &	getName () const
	Get the name of this monitor. More...

const robot_model_loader::RobotModelLoaderPtr &	getRobotModelLoader () const
	Get the user kinematic model loader. More...

const moveit::core::RobotModelConstPtr &	getRobotModel () const

const planning_scene::PlanningScenePtr &	getPlanningScene ()
	Avoid this function! Returns an unsafe pointer to the current planning scene. More...

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Avoid this function! Returns an unsafe pointer to the current planning scene. More...

bool	updatesScene (const planning_scene::PlanningSceneConstPtr &scene) const
	Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained. More...

bool	updatesScene (const planning_scene::PlanningScenePtr &scene) const
	Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained. More...

const std::string &	getRobotDescription () const
	Get the stored robot description. More...

double	getDefaultRobotPadding () const
	Get the default robot padding. More...

double	getDefaultRobotScale () const
	Get the default robot scaling. More...

double	getDefaultObjectPadding () const
	Get the default object padding. More...

double	getDefaultAttachedObjectPadding () const
	Get the default attached padding. More...

const std::shared_ptr< tf2_ros::Buffer > &	getTFClient () const
	Get the instance of the TF client that was passed to the constructor of this class. More...

void	monitorDiffs (bool flag)
	By default, the maintained planning scene does not reason about diffs. When the flag passed in is true, the maintained scene starts counting diffs. Future updates to the planning scene will be stored as diffs and can be retrieved as such. Setting the flag to false restores the default behaviour. Maintaining diffs is automatically enabled when publishing planning scenes. More...

void	startPublishingPlanningScene (SceneUpdateType event, const std::string &planning_scene_topic=MONITORED_PLANNING_SCENE_TOPIC)
	Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent. More...

void	stopPublishingPlanningScene ()
	Stop publishing the maintained planning scene. More...

void	setPlanningScenePublishingFrequency (double hz)
	Set the maximum frequency at which planning scenes are being published. More...

double	getPlanningScenePublishingFrequency () const
	Get the maximum frequency at which planning scenes are published (Hz) More...

const CurrentStateMonitorPtr &	getStateMonitor () const
	Get the stored instance of the stored current state monitor. More...

CurrentStateMonitorPtr &	getStateMonitorNonConst ()

void	updateFrameTransforms ()
	Update the transforms for the frames that are not part of the kinematic model using tf. Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called when data that uses transforms is received. However, this function should also be called before starting a planning request, for example. More...

void	startStateMonitor (const std::string &joint_states_topic=DEFAULT_JOINT_STATES_TOPIC, const std::string &attached_objects_topic=DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC)
	Start the current state monitor. More...

void	stopStateMonitor ()
	Stop the state monitor. More...

void	updateSceneWithCurrentState ()
	Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency(). More...

void	setStateUpdateFrequency (double hz)
	Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here. More...

double	getStateUpdateFrequency () const
	Get the maximum frequency (Hz) at which the current state of the planning scene is updated. More...

void	startSceneMonitor (const std::string &scene_topic=DEFAULT_PLANNING_SCENE_TOPIC)
	Start the scene monitor (ROS topic-based) More...

bool	requestPlanningSceneState (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE)
	Request a full planning scene state using a service call Be careful not to use this in conjunction with providePlanningSceneService(), as it will create a pointless feedback loop. More...

void	providePlanningSceneService (const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE)
	Create an optional service for getting the complete planning scene This is useful for satisfying the Rviz PlanningScene display's need for a service without having to use a move_group node. Be careful not to use this in conjunction with requestPlanningSceneState(), as it will create a pointless feedback loop. More...

void	stopSceneMonitor ()
	Stop the scene monitor. More...

void	startWorldGeometryMonitor (const std::string &collision_objects_topic=DEFAULT_COLLISION_OBJECT_TOPIC, const std::string &planning_scene_world_topic=DEFAULT_PLANNING_SCENE_WORLD_TOPIC, const bool load_octomap_monitor=true)
	Start the OccupancyMapMonitor and listening for: More...

void	stopWorldGeometryMonitor ()
	Stop the world geometry monitor. More...

void	addUpdateCallback (const std::function< void(SceneUpdateType)> &fn)
	Add a function to be called when an update to the scene is received. More...

void	clearUpdateCallbacks ()
	Clear the functions to be called when an update to the scene is received. More...

void	getMonitoredTopics (std::vector< std::string > &topics) const
	Get the topic names that the monitor is listening to. More...

const rclcpp::Time &	getLastUpdateTime () const
	Return the time when the last update was made to the planning scene (by any monitor) More...

void	publishDebugInformation (bool flag)

void	triggerSceneUpdateEvent (SceneUpdateType update_type)
	This function is called every time there is a change to the planning scene. More...

bool	waitForCurrentRobotState (const rclcpp::Time &t, double wait_time=1.)
	Wait for robot state to become more recent than time t. More...

void	clearOctomap ()

bool	newPlanningSceneMessage (const moveit_msgs::msg::PlanningScene &scene)

bool	processCollisionObjectMsg (const moveit_msgs::msg::CollisionObject::ConstSharedPtr &collision_object_msg, const std::optional< moveit_msgs::msg::ObjectColor > &color_msg=std::nullopt)

bool	processAttachedCollisionObjectMsg (const moveit_msgs::msg::AttachedCollisionObject::ConstSharedPtr &attached_collision_object_msg)

Static Public Attributes
static const std::string	DEFAULT_JOINT_STATES_TOPIC = "joint_states"
	The name of the topic used by default for receiving joint states. More...

static const std::string	DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object"
	The name of the topic used by default for attached collision objects. More...

static const std::string	DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object"
	The name of the topic used by default for receiving collision objects in the world. More...

static const std::string	DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world"

static const std::string	DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene"
	The name of the topic used by default for receiving full planning scenes or planning scene diffs. More...

static const std::string	DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene"
	The name of the service used by default for requesting full planning scene state. More...

static const std::string	MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene"

Protected Types
typedef std::map< const moveit::core::LinkModel *, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, std::size_t > > >	LinkShapeHandles

using	AttachedBodyShapeHandles = std::map< const moveit::core::AttachedBody *, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, std::size_t > > >

using	CollisionBodyShapeHandles = std::map< std::string, std::vector< std::pair< occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d * > > >

Protected Member Functions
void	initialize (const planning_scene::PlanningScenePtr &scene)
	Initialize the planning scene monitor. More...

void	lockSceneRead ()
	Lock the scene for reading (multiple threads can lock for reading at the same time) More...

void	unlockSceneRead ()
	Unlock the scene from reading (multiple threads can lock for reading at the same time) More...

void	lockSceneWrite ()
	Lock the scene for writing (only one thread can lock for writing and no other thread can lock for reading) More...

void	unlockSceneWrite ()
	Lock the scene from writing (only one thread can lock for writing and no other thread can lock for reading) More...

void	configureCollisionMatrix (const planning_scene::PlanningScenePtr &scene)
	Configure the collision matrix for a particular scene. More...

void	configureDefaultPadding ()
	Configure the default padding. More...

void	newPlanningSceneWorldCallback (const moveit_msgs::msg::PlanningSceneWorld::ConstSharedPtr &world)
	Callback for a new planning scene world. More...

void	octomapUpdateCallback ()
	Callback for octomap updates. More...

void	currentStateAttachedBodyUpdateCallback (moveit::core::AttachedBody *attached_body, bool just_attached)
	Callback for a change for an attached object of the current state of the planning scene. More...

void	currentWorldObjectUpdateCallback (const collision_detection::World::ObjectConstPtr &object, collision_detection::World::Action action)
	Callback for a change in the world maintained by the planning scene. More...

void	includeRobotLinksInOctree ()

void	excludeRobotLinksFromOctree ()

void	excludeWorldObjectsFromOctree ()

void	includeWorldObjectsInOctree ()

void	excludeWorldObjectFromOctree (const collision_detection::World::ObjectConstPtr &obj)

void	includeWorldObjectInOctree (const collision_detection::World::ObjectConstPtr &obj)

void	excludeAttachedBodiesFromOctree ()

void	includeAttachedBodiesInOctree ()

void	excludeAttachedBodyFromOctree (const moveit::core::AttachedBody *attached_body)

void	includeAttachedBodyInOctree (const moveit::core::AttachedBody *attached_body)

bool	getShapeTransformCache (const std::string &target_frame, const rclcpp::Time &target_time, occupancy_map_monitor::ShapeTransformCache &cache) const

Protected Attributes
std::string	monitor_name_
	The name of this scene monitor. More...

planning_scene::PlanningScenePtr	scene_

planning_scene::PlanningSceneConstPtr	scene_const_

planning_scene::PlanningScenePtr	parent_scene_

std::shared_mutex	scene_update_mutex_
	if diffs are monitored, this is the pointer to the parent scene More...

rclcpp::Time	last_update_time_
	mutex for stored scene More...

rclcpp::Time	last_robot_motion_time_
	Last time the state was updated. More...

std::shared_ptr< rclcpp::Node >	node_
	Last time the robot has moved. More...

std::shared_ptr< rclcpp::Node >	pnode_

std::shared_ptr< rclcpp::executors::SingleThreadedExecutor >	private_executor_

std::thread	private_executor_thread_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

std::string	robot_description_

double	default_robot_padd_
	default robot padding More...

double	default_robot_scale_
	default robot scaling More...

double	default_object_padd_
	default object padding More...

double	default_attached_padd_
	default attached padding More...

std::map< std::string, double >	default_robot_link_padd_
	default robot link padding More...

std::map< std::string, double >	default_robot_link_scale_
	default robot link scale More...

rclcpp::Publisher< moveit_msgs::msg::PlanningScene >::SharedPtr	planning_scene_publisher_

std::unique_ptr< std::thread >	publish_planning_scene_

double	publish_planning_scene_frequency_

SceneUpdateType	publish_update_types_

std::atomic< SceneUpdateType >	new_scene_update_

std::condition_variable_any	new_scene_update_condition_

rclcpp::Subscription< moveit_msgs::msg::PlanningScene >::SharedPtr	planning_scene_subscriber_

rclcpp::Subscription< moveit_msgs::msg::PlanningSceneWorld >::SharedPtr	planning_scene_world_subscriber_

rclcpp::Subscription< moveit_msgs::msg::AttachedCollisionObject >::SharedPtr	attached_collision_object_subscriber_

rclcpp::Subscription< moveit_msgs::msg::CollisionObject >::SharedPtr	collision_object_subscriber_

rclcpp::Service< moveit_msgs::srv::GetPlanningScene >::SharedPtr	get_scene_service_

std::unique_ptr< occupancy_map_monitor::OccupancyMapMonitor >	octomap_monitor_

CurrentStateMonitorPtr	current_state_monitor_

LinkShapeHandles	link_shape_handles_

AttachedBodyShapeHandles	attached_body_shape_handles_

CollisionBodyShapeHandles	collision_body_shape_handles_

std::recursive_mutex	shape_handles_lock_

std::recursive_mutex	update_lock_
	lock access to update_callbacks_ More...

std::vector< std::function< void(SceneUpdateType)> >	update_callbacks_

Friends
class	LockedPlanningSceneRO

class	LockedPlanningSceneRW

Detailed Description

PlanningSceneMonitor Subscribes to the topic planning_scene.

Definition at line 64 of file planning_scene_monitor.h.

Member Typedef Documentation

◆ AttachedBodyShapeHandles

using planning_scene_monitor::PlanningSceneMonitor::AttachedBodyShapeHandles = std::map<const moveit::core::AttachedBody*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > >

protected

Definition at line 523 of file planning_scene_monitor.h.

◆ CollisionBodyShapeHandles

using planning_scene_monitor::PlanningSceneMonitor::CollisionBodyShapeHandles = std::map<std::string, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*> > >

protected

Definition at line 525 of file planning_scene_monitor.h.

◆ LinkShapeHandles

typedef std::map<const moveit::core::LinkModel*, std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t> > > planning_scene_monitor::PlanningSceneMonitor::LinkShapeHandles

protected

Definition at line 522 of file planning_scene_monitor.h.

Member Enumeration Documentation

◆ SceneUpdateType

enum planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType

Enumerator
UPDATE_NONE	No update.
UPDATE_STATE	The state in the monitored scene was updated.
UPDATE_TRANSFORMS	The maintained set of fixed transforms in the monitored scene was updated.
UPDATE_GEOMETRY	The geometry of the scene was updated. This includes receiving new octomaps, collision objects, attached objects, scene geometry, etc.
UPDATE_SCENE	The entire scene was updated.

Definition at line 77 of file planning_scene_monitor.h.

Constructor & Destructor Documentation

◆ PlanningSceneMonitor() [1/5]

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor ( const PlanningSceneMonitor & )

delete

PlanningSceneMonitor cannot be copy-constructed.

◆ PlanningSceneMonitor() [2/5]

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description,
		const std::string &	name = `""`
	)

Constructor.

Parameters

robot_description	The name of the ROS parameter that contains the URDF (in string format)
name	A name identifying this planning scene monitor

Definition at line 67 of file planning_scene_monitor.cpp.

◆ PlanningSceneMonitor() [3/5]

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const robot_model_loader::RobotModelLoaderPtr &	rml,
		const std::string &	name = `""`
	)

Constructor.

Parameters

rml	A pointer to a kinematic model loader
name	A name identifying this planning scene monitor

Definition at line 81 of file planning_scene_monitor.cpp.

◆ PlanningSceneMonitor() [4/5]

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const planning_scene::PlanningScenePtr &	scene,
		const std::string &	robot_description,
		const std::string &	name = `""`
	)

Constructor.

Parameters

scene	The scene instance to maintain up to date with monitored information
robot_description	The name of the ROS parameter that contains the URDF (in string format)
name	A name identifying this planning scene monitor

Definition at line 73 of file planning_scene_monitor.cpp.

◆ PlanningSceneMonitor() [5/5]

planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const planning_scene::PlanningScenePtr &	scene,
		const robot_model_loader::RobotModelLoaderPtr &	rml,
		const std::string &	name = `""`
	)

Constructor.

Parameters

scene	The scene instance to maintain up to date with monitored information
rml	A pointer to a kinematic model loader
name	A name identifying this planning scene monitor

Definition at line 88 of file planning_scene_monitor.cpp.

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◆ ~PlanningSceneMonitor()

planning_scene_monitor::PlanningSceneMonitor::~PlanningSceneMonitor ( )

Definition at line 121 of file planning_scene_monitor.cpp.

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Member Function Documentation

◆ addUpdateCallback()

void planning_scene_monitor::PlanningSceneMonitor::addUpdateCallback ( const std::function< void(SceneUpdateType)> & fn )

Add a function to be called when an update to the scene is received.

Definition at line 1536 of file planning_scene_monitor.cpp.

◆ clearOctomap()

void planning_scene_monitor::PlanningSceneMonitor::clearOctomap ( )

Definition at line 689 of file planning_scene_monitor.cpp.

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◆ clearUpdateCallbacks()

void planning_scene_monitor::PlanningSceneMonitor::clearUpdateCallbacks ( )

Clear the functions to be called when an update to the scene is received.

Definition at line 1543 of file planning_scene_monitor.cpp.

◆ configureCollisionMatrix()

void planning_scene_monitor::PlanningSceneMonitor::configureCollisionMatrix ( const planning_scene::PlanningScenePtr & scene )

protected

Configure the collision matrix for a particular scene.

Definition at line 1605 of file planning_scene_monitor.cpp.

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◆ configureDefaultPadding()

void planning_scene_monitor::PlanningSceneMonitor::configureDefaultPadding ( )

protected

Configure the default padding.

Definition at line 1653 of file planning_scene_monitor.cpp.

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◆ currentStateAttachedBodyUpdateCallback()

void planning_scene_monitor::PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback	(	moveit::core::AttachedBody *	attached_body,
		bool	just_attached
	)

protected

Callback for a change for an attached object of the current state of the planning scene.

Definition at line 1049 of file planning_scene_monitor.cpp.

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◆ currentWorldObjectUpdateCallback()

void planning_scene_monitor::PlanningSceneMonitor::currentWorldObjectUpdateCallback	(	const collision_detection::World::ObjectConstPtr &	object,
		collision_detection::World::Action	action
	)

protected

Callback for a change in the world maintained by the planning scene.

Definition at line 1065 of file planning_scene_monitor.cpp.

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◆ excludeAttachedBodiesFromOctree()

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodiesFromOctree ( )

protected

Definition at line 931 of file planning_scene_monitor.cpp.

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◆ excludeAttachedBodyFromOctree()

void planning_scene_monitor::PlanningSceneMonitor::excludeAttachedBodyFromOctree ( const moveit::core::AttachedBody * attached_body )

protected

Definition at line 970 of file planning_scene_monitor.cpp.

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◆ excludeRobotLinksFromOctree()

void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree ( )

protected

Definition at line 859 of file planning_scene_monitor.cpp.

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◆ excludeWorldObjectFromOctree()

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectFromOctree ( const collision_detection::World::ObjectConstPtr & obj )

protected

Definition at line 1009 of file planning_scene_monitor.cpp.

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◆ excludeWorldObjectsFromOctree()

void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectsFromOctree ( )

protected

Definition at line 961 of file planning_scene_monitor.cpp.

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◆ getDefaultAttachedObjectPadding()

double planning_scene_monitor::PlanningSceneMonitor::getDefaultAttachedObjectPadding ( ) const

inline

Get the default attached padding.

Definition at line 233 of file planning_scene_monitor.h.

◆ getDefaultObjectPadding()

double planning_scene_monitor::PlanningSceneMonitor::getDefaultObjectPadding ( ) const

inline

Get the default object padding.

Definition at line 227 of file planning_scene_monitor.h.

◆ getDefaultRobotPadding()

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotPadding ( ) const

inline

Get the default robot padding.

Definition at line 215 of file planning_scene_monitor.h.

◆ getDefaultRobotScale()

double planning_scene_monitor::PlanningSceneMonitor::getDefaultRobotScale ( ) const

inline

Get the default robot scaling.

Definition at line 221 of file planning_scene_monitor.h.

◆ getLastUpdateTime()

const rclcpp::Time& planning_scene_monitor::PlanningSceneMonitor::getLastUpdateTime ( ) const

inline

Return the time when the last update was made to the planning scene (by any monitor)

Definition at line 373 of file planning_scene_monitor.h.

◆ getMonitoredTopics()

void planning_scene_monitor::PlanningSceneMonitor::getMonitoredTopics ( std::vector< std::string > & topics ) const

Get the topic names that the monitor is listening to.

Definition at line 530 of file planning_scene_monitor.cpp.

◆ getName()

const std::string& planning_scene_monitor::PlanningSceneMonitor::getName ( ) const

inline

Get the name of this monitor.

Definition at line 152 of file planning_scene_monitor.h.

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◆ getPlanningScene() [1/2]

const planning_scene::PlanningScenePtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( )

inline

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning: Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also: LockedPlanningSceneRO; LockedPlanningSceneRW.

Returns: A pointer to the current planning scene.

Definition at line 182 of file planning_scene_monitor.h.

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◆ getPlanningScene() [2/2]

const planning_scene::PlanningSceneConstPtr& planning_scene_monitor::PlanningSceneMonitor::getPlanningScene ( ) const

inline

Avoid this function! Returns an unsafe pointer to the current planning scene.

Warning: Most likely you do not want to call this function directly. PlanningSceneMonitor has a background thread which repeatedly updates and clobbers various contents of its internal PlanningScene instance. This function just returns a pointer to that dynamic internal object. The correct thing is usually to use a LockedPlanningSceneRO or LockedPlanningSceneRW, which locks the PlanningSceneMonitor and provides safe access to the PlanningScene object.

See also: LockedPlanningSceneRO; LockedPlanningSceneRW.

Returns: A pointer to the current planning scene.

Definition at line 190 of file planning_scene_monitor.h.

◆ getPlanningScenePublishingFrequency()

double planning_scene_monitor::PlanningSceneMonitor::getPlanningScenePublishingFrequency ( ) const

inline

Get the maximum frequency at which planning scenes are published (Hz)

Definition at line 264 of file planning_scene_monitor.h.

◆ getRobotDescription()

const std::string& planning_scene_monitor::PlanningSceneMonitor::getRobotDescription ( ) const

inline

Get the stored robot description.

Returns: An instance of the stored robot description

Definition at line 209 of file planning_scene_monitor.h.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModel ( ) const

inline

Definition at line 163 of file planning_scene_monitor.h.

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◆ getRobotModelLoader()

const robot_model_loader::RobotModelLoaderPtr& planning_scene_monitor::PlanningSceneMonitor::getRobotModelLoader ( ) const

inline

Get the user kinematic model loader.

Definition at line 158 of file planning_scene_monitor.h.

◆ getShapeTransformCache()

bool planning_scene_monitor::PlanningSceneMonitor::getShapeTransformCache	(	const std::string &	target_frame,
		const rclcpp::Time &	target_time,
		occupancy_map_monitor::ShapeTransformCache &	cache
	)		const

protected

Definition at line 1199 of file planning_scene_monitor.cpp.

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◆ getStateMonitor()

const CurrentStateMonitorPtr& planning_scene_monitor::PlanningSceneMonitor::getStateMonitor ( ) const

inline

Get the stored instance of the stored current state monitor.

Returns: An instance of the stored current state monitor

Definition at line 271 of file planning_scene_monitor.h.

◆ getStateMonitorNonConst()

CurrentStateMonitorPtr& planning_scene_monitor::PlanningSceneMonitor::getStateMonitorNonConst ( )

inline

Definition at line 276 of file planning_scene_monitor.h.

◆ getStateUpdateFrequency()

double planning_scene_monitor::PlanningSceneMonitor::getStateUpdateFrequency ( ) const

inline

Get the maximum frequency (Hz) at which the current state of the planning scene is updated.

Definition at line 310 of file planning_scene_monitor.h.

◆ getTFClient()

const std::shared_ptr<tf2_ros::Buffer>& planning_scene_monitor::PlanningSceneMonitor::getTFClient ( ) const

inline

Get the instance of the TF client that was passed to the constructor of this class.

Definition at line 239 of file planning_scene_monitor.h.

◆ includeAttachedBodiesInOctree()

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodiesInOctree ( )

protected

Definition at line 913 of file planning_scene_monitor.cpp.

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◆ includeAttachedBodyInOctree()

void planning_scene_monitor::PlanningSceneMonitor::includeAttachedBodyInOctree ( const moveit::core::AttachedBody * attached_body )

protected

Definition at line 992 of file planning_scene_monitor.cpp.

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◆ includeRobotLinksInOctree()

void planning_scene_monitor::PlanningSceneMonitor::includeRobotLinksInOctree ( )

protected

Definition at line 896 of file planning_scene_monitor.cpp.

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◆ includeWorldObjectInOctree()

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectInOctree ( const collision_detection::World::ObjectConstPtr & obj )

protected

Definition at line 1032 of file planning_scene_monitor.cpp.

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◆ includeWorldObjectsInOctree()

void planning_scene_monitor::PlanningSceneMonitor::includeWorldObjectsInOctree ( )

protected

Definition at line 943 of file planning_scene_monitor.cpp.

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◆ initialize()

void planning_scene_monitor::PlanningSceneMonitor::initialize ( const planning_scene::PlanningScenePtr & scene )

protected

Initialize the planning scene monitor.

Parameters

scene The scene instance to fill with data (an instance is allocated if the one passed in is not allocated)

Definition at line 146 of file planning_scene_monitor.cpp.

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◆ lockSceneRead()

void planning_scene_monitor::PlanningSceneMonitor::lockSceneRead ( )

protected

Lock the scene for reading (multiple threads can lock for reading at the same time)

Definition at line 1146 of file planning_scene_monitor.cpp.

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◆ lockSceneWrite()

void planning_scene_monitor::PlanningSceneMonitor::lockSceneWrite ( )

protected

Lock the scene for writing (only one thread can lock for writing and no other thread can lock for reading)

Definition at line 1160 of file planning_scene_monitor.cpp.

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◆ monitorDiffs()

void planning_scene_monitor::PlanningSceneMonitor::monitorDiffs ( bool flag )

By default, the maintained planning scene does not reason about diffs. When the flag passed in is true, the maintained scene starts counting diffs. Future updates to the planning scene will be stored as diffs and can be retrieved as such. Setting the flag to false restores the default behaviour. Maintaining diffs is automatically enabled when publishing planning scenes.

Definition at line 352 of file planning_scene_monitor.cpp.

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◆ newPlanningSceneMessage()

bool planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage ( const moveit_msgs::msg::PlanningScene & scene )

Definition at line 712 of file planning_scene_monitor.cpp.

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◆ newPlanningSceneWorldCallback()

void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneWorldCallback ( const moveit_msgs::msg::PlanningSceneWorld::ConstSharedPtr & world )

protected

Callback for a new planning scene world.

Definition at line 834 of file planning_scene_monitor.cpp.

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◆ octomapUpdateCallback()

void planning_scene_monitor::PlanningSceneMonitor::octomapUpdateCallback ( )

protected

Callback for octomap updates.

Definition at line 1446 of file planning_scene_monitor.cpp.

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◆ operator=()

PlanningSceneMonitor& planning_scene_monitor::PlanningSceneMonitor::operator= ( const PlanningSceneMonitor & )

delete

PlanningSceneMonitor cannot be copy-assigned.

◆ processAttachedCollisionObjectMsg()

bool planning_scene_monitor::PlanningSceneMonitor::processAttachedCollisionObjectMsg ( const moveit_msgs::msg::AttachedCollisionObject::ConstSharedPtr & attached_collision_object_msg )

Definition at line 814 of file planning_scene_monitor.cpp.

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◆ processCollisionObjectMsg()

bool planning_scene_monitor::PlanningSceneMonitor::processCollisionObjectMsg	(	const moveit_msgs::msg::CollisionObject::ConstSharedPtr &	collision_object_msg,
		const std::optional< moveit_msgs::msg::ObjectColor > &	color_msg = `std::nullopt`
	)

Definition at line 794 of file planning_scene_monitor.cpp.

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◆ providePlanningSceneService()

void planning_scene_monitor::PlanningSceneMonitor::providePlanningSceneService ( const std::string & service_name = DEFAULT_PLANNING_SCENE_SERVICE )

Create an optional service for getting the complete planning scene This is useful for satisfying the Rviz PlanningScene display's need for a service without having to use a move_group node. Be careful not to use this in conjunction with requestPlanningSceneState(), as it will create a pointless feedback loop.

Parameters

service_name The topic to provide the service

Definition at line 631 of file planning_scene_monitor.cpp.

◆ publishDebugInformation()

void planning_scene_monitor::PlanningSceneMonitor::publishDebugInformation ( bool flag )

Definition at line 1599 of file planning_scene_monitor.cpp.

◆ requestPlanningSceneState()

bool planning_scene_monitor::PlanningSceneMonitor::requestPlanningSceneState ( const std::string & service_name = DEFAULT_PLANNING_SCENE_SERVICE )

Request a full planning scene state using a service call Be careful not to use this in conjunction with providePlanningSceneService(), as it will create a pointless feedback loop.

Parameters

service_name The name of the service to use for requesting the planning scene. This must be a service of type moveit_msgs::srv::GetPlanningScene and is usually called "/get_planning_scene".

Definition at line 586 of file planning_scene_monitor.cpp.

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◆ setPlanningScenePublishingFrequency()

void planning_scene_monitor::PlanningSceneMonitor::setPlanningScenePublishingFrequency ( double hz )

Set the maximum frequency at which planning scenes are being published.

Definition at line 1549 of file planning_scene_monitor.cpp.

◆ setStateUpdateFrequency()

void planning_scene_monitor::PlanningSceneMonitor::setStateUpdateFrequency ( double hz )

Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here.

Parameters

hz	the update frequency. By default this is 10Hz.

Definition at line 1470 of file planning_scene_monitor.cpp.

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◆ startPublishingPlanningScene()

void planning_scene_monitor::PlanningSceneMonitor::startPublishingPlanningScene	(	SceneUpdateType	event,
		const std::string &	planning_scene_topic = `MONITORED_PLANNING_SCENE_TOPIC`
	)

Start publishing the maintained planning scene. The first message set out is a complete planning scene. Diffs are sent afterwards on updates specified by the event bitmask. For UPDATE_SCENE, the full scene is always sent.

Definition at line 415 of file planning_scene_monitor.cpp.

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◆ startSceneMonitor()

void planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor ( const std::string & scene_topic = DEFAULT_PLANNING_SCENE_TOPIC )

Start the scene monitor (ROS topic-based)

Parameters

scene_topic The name of the planning scene topic

Definition at line 1174 of file planning_scene_monitor.cpp.

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◆ startStateMonitor()

void planning_scene_monitor::PlanningSceneMonitor::startStateMonitor	(	const std::string &	joint_states_topic = `DEFAULT_JOINT_STATES_TOPIC`,
		const std::string &	attached_objects_topic = `DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC`
	)

Start the current state monitor.

Parameters

joint_states_topic	the topic to listen to for joint states
attached_objects_topic	the topic to listen to for attached collision objects

Definition at line 1332 of file planning_scene_monitor.cpp.

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◆ startWorldGeometryMonitor()

void planning_scene_monitor::PlanningSceneMonitor::startWorldGeometryMonitor	(	const std::string &	collision_objects_topic = `DEFAULT_COLLISION_OBJECT_TOPIC`,
		const std::string &	planning_scene_world_topic = `DEFAULT_PLANNING_SCENE_WORLD_TOPIC`,
		const bool	load_octomap_monitor = `true`
	)

Start the OccupancyMapMonitor and listening for:

Requests to add/remove/update collision objects to/from the world
The collision map

Requests to attached/detach collision objects

Parameters

collision_objects_topic	The topic on which to listen for collision objects
planning_scene_world_topic	The topic to listen to for world scene geometry
load_octomap_monitor	Flag to disable octomap monitor if desired

Definition at line 1268 of file planning_scene_monitor.cpp.

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◆ stopPublishingPlanningScene()

void planning_scene_monitor::PlanningSceneMonitor::stopPublishingPlanningScene ( )

Stop publishing the maintained planning scene.

Definition at line 401 of file planning_scene_monitor.cpp.

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◆ stopSceneMonitor()

void planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor ( )

Stop the scene monitor.

Definition at line 1190 of file planning_scene_monitor.cpp.

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◆ stopStateMonitor()

void planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor ( )

Stop the state monitor.

Definition at line 1374 of file planning_scene_monitor.cpp.

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◆ stopWorldGeometryMonitor()

void planning_scene_monitor::PlanningSceneMonitor::stopWorldGeometryMonitor ( )

Stop the world geometry monitor.

Definition at line 1316 of file planning_scene_monitor.cpp.

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◆ triggerSceneUpdateEvent()

void planning_scene_monitor::PlanningSceneMonitor::triggerSceneUpdateEvent ( SceneUpdateType update_type )

This function is called every time there is a change to the planning scene.

Definition at line 575 of file planning_scene_monitor.cpp.

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◆ unlockSceneRead()

void planning_scene_monitor::PlanningSceneMonitor::unlockSceneRead ( )

protected

Unlock the scene from reading (multiple threads can lock for reading at the same time)

Definition at line 1153 of file planning_scene_monitor.cpp.

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◆ unlockSceneWrite()

void planning_scene_monitor::PlanningSceneMonitor::unlockSceneWrite ( )

protected

Lock the scene from writing (only one thread can lock for writing and no other thread can lock for reading)

Definition at line 1167 of file planning_scene_monitor.cpp.

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◆ updateFrameTransforms()

void planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms ( )

Update the transforms for the frames that are not part of the kinematic model using tf. Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called when data that uses transforms is received. However, this function should also be called before starting a planning request, for example.

Definition at line 1584 of file planning_scene_monitor.cpp.

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◆ updateSceneWithCurrentState()

void planning_scene_monitor::PlanningSceneMonitor::updateSceneWithCurrentState ( )

Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency().

Definition at line 1499 of file planning_scene_monitor.cpp.

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◆ updatesScene() [1/2]

bool planning_scene_monitor::PlanningSceneMonitor::updatesScene ( const planning_scene::PlanningSceneConstPtr & scene ) const

Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained.

Definition at line 570 of file planning_scene_monitor.cpp.

◆ updatesScene() [2/2]

bool planning_scene_monitor::PlanningSceneMonitor::updatesScene ( const planning_scene::PlanningScenePtr & scene ) const

Return true if the scene scene can be updated directly or indirectly by this monitor. This function will return true if the pointer of the scene is the same as the one maintained, or if a parent of the scene is the one maintained.

Definition at line 565 of file planning_scene_monitor.cpp.

◆ waitForCurrentRobotState()

bool planning_scene_monitor::PlanningSceneMonitor::waitForCurrentRobotState	(	const rclcpp::Time &	t,
		double	wait_time = `1.`
	)

Wait for robot state to become more recent than time t.

If there is no state monitor active, there will be no scene updates. Hence, you can specify a timeout to wait for those updates. Default is 1s.

Definition at line 1088 of file planning_scene_monitor.cpp.

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Friends And Related Function Documentation

◆ LockedPlanningSceneRO

friend class LockedPlanningSceneRO

friend

Definition at line 595 of file planning_scene_monitor.h.

◆ LockedPlanningSceneRW

friend class LockedPlanningSceneRW

friend

Definition at line 596 of file planning_scene_monitor.h.

Member Data Documentation

◆ attached_body_shape_handles_

AttachedBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::attached_body_shape_handles_

protected

Definition at line 529 of file planning_scene_monitor.h.

◆ attached_collision_object_subscriber_

rclcpp::Subscription<moveit_msgs::msg::AttachedCollisionObject>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::attached_collision_object_subscriber_

protected

Definition at line 507 of file planning_scene_monitor.h.

◆ collision_body_shape_handles_

CollisionBodyShapeHandles planning_scene_monitor::PlanningSceneMonitor::collision_body_shape_handles_

protected

Definition at line 530 of file planning_scene_monitor.h.

◆ collision_object_subscriber_

rclcpp::Subscription<moveit_msgs::msg::CollisionObject>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::collision_object_subscriber_

protected

Definition at line 508 of file planning_scene_monitor.h.

◆ current_state_monitor_

CurrentStateMonitorPtr planning_scene_monitor::PlanningSceneMonitor::current_state_monitor_

protected

Definition at line 518 of file planning_scene_monitor.h.

◆ DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object"

static

The name of the topic used by default for attached collision objects.

Definition at line 100 of file planning_scene_monitor.h.

◆ default_attached_padd_

double planning_scene_monitor::PlanningSceneMonitor::default_attached_padd_

protected

default attached padding

Definition at line 489 of file planning_scene_monitor.h.

◆ DEFAULT_COLLISION_OBJECT_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object"

static

The name of the topic used by default for receiving collision objects in the world.

Definition at line 103 of file planning_scene_monitor.h.

◆ DEFAULT_JOINT_STATES_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC = "joint_states"

static

The name of the topic used by default for receiving joint states.

Definition at line 97 of file planning_scene_monitor.h.

◆ default_object_padd_

double planning_scene_monitor::PlanningSceneMonitor::default_object_padd_

protected

default object padding

Definition at line 487 of file planning_scene_monitor.h.

◆ DEFAULT_PLANNING_SCENE_SERVICE

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene"

static

The name of the service used by default for requesting full planning scene state.

Definition at line 113 of file planning_scene_monitor.h.

◆ DEFAULT_PLANNING_SCENE_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene"

static

The name of the topic used by default for receiving full planning scenes or planning scene diffs.

Definition at line 110 of file planning_scene_monitor.h.

◆ DEFAULT_PLANNING_SCENE_WORLD_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world"

static

The name of the topic used by default for receiving geometry information about a planning scene (complete overwrite of world geometry)

Definition at line 107 of file planning_scene_monitor.h.

◆ default_robot_link_padd_

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_padd_

protected

default robot link padding

Definition at line 491 of file planning_scene_monitor.h.

◆ default_robot_link_scale_

std::map<std::string, double> planning_scene_monitor::PlanningSceneMonitor::default_robot_link_scale_

protected

default robot link scale

Definition at line 493 of file planning_scene_monitor.h.

◆ default_robot_padd_

double planning_scene_monitor::PlanningSceneMonitor::default_robot_padd_

protected

default robot padding

Definition at line 483 of file planning_scene_monitor.h.

◆ default_robot_scale_

double planning_scene_monitor::PlanningSceneMonitor::default_robot_scale_

protected

default robot scaling

Definition at line 485 of file planning_scene_monitor.h.

◆ get_scene_service_

rclcpp::Service<moveit_msgs::srv::GetPlanningScene>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::get_scene_service_

protected

Definition at line 512 of file planning_scene_monitor.h.

◆ last_robot_motion_time_

rclcpp::Time planning_scene_monitor::PlanningSceneMonitor::last_robot_motion_time_

protected

Last time the state was updated.

Definition at line 466 of file planning_scene_monitor.h.

◆ last_update_time_

rclcpp::Time planning_scene_monitor::PlanningSceneMonitor::last_update_time_

protected

mutex for stored scene

Definition at line 465 of file planning_scene_monitor.h.

◆ link_shape_handles_

LinkShapeHandles planning_scene_monitor::PlanningSceneMonitor::link_shape_handles_

protected

Definition at line 528 of file planning_scene_monitor.h.

◆ monitor_name_

std::string planning_scene_monitor::PlanningSceneMonitor::monitor_name_

protected

The name of this scene monitor.

Definition at line 459 of file planning_scene_monitor.h.

◆ MONITORED_PLANNING_SCENE_TOPIC

const std::string planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene"

static

The name of the topic used by default for publishing the monitored planning scene (this is without "/" in the name, so the topic is prefixed by the node name)

Definition at line 117 of file planning_scene_monitor.h.

◆ new_scene_update_

std::atomic<SceneUpdateType> planning_scene_monitor::PlanningSceneMonitor::new_scene_update_

protected

Definition at line 500 of file planning_scene_monitor.h.

◆ new_scene_update_condition_

std::condition_variable_any planning_scene_monitor::PlanningSceneMonitor::new_scene_update_condition_

protected

Definition at line 501 of file planning_scene_monitor.h.

◆ node_

std::shared_ptr<rclcpp::Node> planning_scene_monitor::PlanningSceneMonitor::node_

protected

Last time the robot has moved.

Definition at line 468 of file planning_scene_monitor.h.

◆ octomap_monitor_

std::unique_ptr<occupancy_map_monitor::OccupancyMapMonitor> planning_scene_monitor::PlanningSceneMonitor::octomap_monitor_

protected

Definition at line 515 of file planning_scene_monitor.h.

◆ parent_scene_

planning_scene::PlanningScenePtr planning_scene_monitor::PlanningSceneMonitor::parent_scene_

protected

Definition at line 463 of file planning_scene_monitor.h.

◆ planning_scene_publisher_

rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::planning_scene_publisher_

protected

Definition at line 496 of file planning_scene_monitor.h.

◆ planning_scene_subscriber_

rclcpp::Subscription<moveit_msgs::msg::PlanningScene>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::planning_scene_subscriber_

protected

Definition at line 504 of file planning_scene_monitor.h.

◆ planning_scene_world_subscriber_

rclcpp::Subscription<moveit_msgs::msg::PlanningSceneWorld>::SharedPtr planning_scene_monitor::PlanningSceneMonitor::planning_scene_world_subscriber_

protected

Definition at line 505 of file planning_scene_monitor.h.

◆ pnode_

std::shared_ptr<rclcpp::Node> planning_scene_monitor::PlanningSceneMonitor::pnode_

protected

Definition at line 473 of file planning_scene_monitor.h.

◆ private_executor_

std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> planning_scene_monitor::PlanningSceneMonitor::private_executor_

protected

Definition at line 474 of file planning_scene_monitor.h.

◆ private_executor_thread_

std::thread planning_scene_monitor::PlanningSceneMonitor::private_executor_thread_

protected

Definition at line 475 of file planning_scene_monitor.h.

◆ publish_planning_scene_

std::unique_ptr<std::thread> planning_scene_monitor::PlanningSceneMonitor::publish_planning_scene_

protected

Definition at line 497 of file planning_scene_monitor.h.

◆ publish_planning_scene_frequency_

double planning_scene_monitor::PlanningSceneMonitor::publish_planning_scene_frequency_

protected

Definition at line 498 of file planning_scene_monitor.h.

◆ publish_update_types_

SceneUpdateType planning_scene_monitor::PlanningSceneMonitor::publish_update_types_

protected

Definition at line 499 of file planning_scene_monitor.h.

◆ robot_description_

std::string planning_scene_monitor::PlanningSceneMonitor::robot_description_

protected

Definition at line 480 of file planning_scene_monitor.h.

◆ scene_

planning_scene::PlanningScenePtr planning_scene_monitor::PlanningSceneMonitor::scene_

protected

Definition at line 461 of file planning_scene_monitor.h.

◆ scene_const_

planning_scene::PlanningSceneConstPtr planning_scene_monitor::PlanningSceneMonitor::scene_const_

protected

Definition at line 462 of file planning_scene_monitor.h.

◆ scene_update_mutex_

std::shared_mutex planning_scene_monitor::PlanningSceneMonitor::scene_update_mutex_

protected

if diffs are monitored, this is the pointer to the parent scene

Definition at line 464 of file planning_scene_monitor.h.

◆ shape_handles_lock_

std::recursive_mutex planning_scene_monitor::PlanningSceneMonitor::shape_handles_lock_

mutableprotected

Definition at line 531 of file planning_scene_monitor.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> planning_scene_monitor::PlanningSceneMonitor::tf_buffer_

protected

Definition at line 477 of file planning_scene_monitor.h.

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> planning_scene_monitor::PlanningSceneMonitor::tf_listener_

protected

Definition at line 478 of file planning_scene_monitor.h.

◆ update_callbacks_

std::vector<std::function<void(SceneUpdateType)> > planning_scene_monitor::PlanningSceneMonitor::update_callbacks_

protected

Definition at line 535 of file planning_scene_monitor.h.

◆ update_lock_

std::recursive_mutex planning_scene_monitor::PlanningSceneMonitor::update_lock_

protected

lock access to update_callbacks_

Definition at line 534 of file planning_scene_monitor.h.

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

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

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ AttachedBodyShapeHandles

◆ CollisionBodyShapeHandles

◆ LinkShapeHandles

Member Enumeration Documentation

◆ SceneUpdateType

Constructor & Destructor Documentation

◆ PlanningSceneMonitor() [1/5]

◆ PlanningSceneMonitor() [2/5]

◆ PlanningSceneMonitor() [3/5]

◆ PlanningSceneMonitor() [4/5]

◆ PlanningSceneMonitor() [5/5]

◆ ~PlanningSceneMonitor()

Member Function Documentation

◆ addUpdateCallback()

◆ clearOctomap()

◆ clearUpdateCallbacks()

◆ configureCollisionMatrix()

◆ configureDefaultPadding()

◆ currentStateAttachedBodyUpdateCallback()

◆ currentWorldObjectUpdateCallback()

◆ excludeAttachedBodiesFromOctree()

◆ excludeAttachedBodyFromOctree()

◆ excludeRobotLinksFromOctree()

◆ excludeWorldObjectFromOctree()

◆ excludeWorldObjectsFromOctree()

◆ getDefaultAttachedObjectPadding()

◆ getDefaultObjectPadding()

◆ getDefaultRobotPadding()

◆ getDefaultRobotScale()

◆ getLastUpdateTime()

◆ getMonitoredTopics()

◆ getName()

◆ getPlanningScene() [1/2]

◆ getPlanningScene() [2/2]

◆ getPlanningScenePublishingFrequency()

◆ getRobotDescription()

◆ getRobotModel()

◆ getRobotModelLoader()

◆ getShapeTransformCache()

◆ getStateMonitor()

◆ getStateMonitorNonConst()

◆ getStateUpdateFrequency()

◆ getTFClient()

◆ includeAttachedBodiesInOctree()

◆ includeAttachedBodyInOctree()

◆ includeRobotLinksInOctree()

◆ includeWorldObjectInOctree()

◆ includeWorldObjectsInOctree()

◆ initialize()

◆ lockSceneRead()

◆ lockSceneWrite()

◆ monitorDiffs()

◆ newPlanningSceneMessage()

◆ newPlanningSceneWorldCallback()

◆ octomapUpdateCallback()

◆ operator=()

◆ processAttachedCollisionObjectMsg()

◆ processCollisionObjectMsg()

◆ providePlanningSceneService()

◆ publishDebugInformation()

◆ requestPlanningSceneState()

◆ setPlanningScenePublishingFrequency()

◆ setStateUpdateFrequency()

◆ startPublishingPlanningScene()

◆ startSceneMonitor()

◆ startStateMonitor()

◆ startWorldGeometryMonitor()

◆ stopPublishingPlanningScene()

◆ stopSceneMonitor()

◆ stopStateMonitor()

◆ stopWorldGeometryMonitor()