cl_moveit2z::CbAttachObject Class Reference

Client behavior that attaches a collision object to the robot gripper. More...

#include <cb_attach_object.hpp>

Inheritance diagram for cl_moveit2z::CbAttachObject:

Collaboration diagram for cl_moveit2z::CbAttachObject:

Public Member Functions
	CbAttachObject (std::string targetObjectName)
	Constructor with object name.
	CbAttachObject ()
	Default constructor.
void	onEntry () override
	Called when the behavior is entered.
void	onExit () override
	Called when the behavior is exited.
	CbAttachObject (std::string targetObjectName)
	CbAttachObject ()
virtual void	onEntry () override
virtual void	onExit () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Attributes
std::string	targetObjectName_
	Name of the target object to attach.

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Client behavior that attaches a collision object to the robot gripper.

This behavior attaches a previously created grasping object to the robot's end effector. The object must exist in the CpGraspingComponent's graspingObjects map. Upon successful attachment, the object is added to the planning scene and attached to the gripper using the finger tip links.

Definition at line 28 of file cb_attach_object.hpp.

Constructor & Destructor Documentation

CbAttachObject() [1/4]

cl_moveit2z::CbAttachObject::CbAttachObject ( std::string targetObjectName )

inline

Constructor with object name.

Parameters

targetObjectName

Name of the object to attach (must exist in CpGraspingComponent)

Definition at line 45 of file cb_attach_object.hpp.

: targetObjectName_(targetObjectName) {}

CbAttachObject() [2/4]

cl_moveit2z::CbAttachObject::CbAttachObject ( )

inline

Default constructor.

Definition at line 50 of file cb_attach_object.hpp.

{}

CbAttachObject() [3/4]

cl_moveit2z::CbAttachObject::CbAttachObject

(

std::string

targetObjectName

)

CbAttachObject() [4/4]

cl_moveit2z::CbAttachObject::CbAttachObject

(

)

Member Function Documentation

onEntry() [1/2]

void cl_moveit2z::CbAttachObject::onEntry ( )

inlineoverridevirtual

Called when the behavior is entered.

Retrieves the target object from CpGraspingComponent, adds it to the planning scene, and attaches it to the gripper. Posts success or failure event based on whether the object was found.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 59 of file cb_attach_object.hpp.

  {
    cl_moveit2z::ClMoveit2z * moveGroup;
    this->requiresClient(moveGroup);
 
    cl_moveit2z::CpGraspingComponent * graspingComponent;
    this->requiresComponent(graspingComponent);
 
    moveit_msgs::msg::CollisionObject targetCollisionObject;
    bool found = graspingComponent->getGraspingObject(targetObjectName_, targetCollisionObject);
 
    if (found)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[CbAttachObject] Attaching object: " << targetObjectName_);
 
      targetCollisionObject.operation = moveit_msgs::msg::CollisionObject::ADD;
      targetCollisionObject.header.stamp = getNode()->now();
 
      moveGroup->planningSceneInterface->applyCollisionObject(targetCollisionObject);
      graspingComponent->currentAttachedObjectName = targetObjectName_;
 
      moveGroup->moveGroupClientInterface->attachObject(
        targetObjectName_, graspingComponent->gripperLink_, graspingComponent->fingerTipNames);
 
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR_STREAM(
        getLogger(),
        "[CbAttachObject] Object not found in grasping component: " << targetObjectName_);
      this->postFailureEvent();
    }
  }

References cl_moveit2z::CpGraspingComponent::currentAttachedObjectName, cl_moveit2z::CpGraspingComponent::fingerTipNames, cl_moveit2z::CpGraspingComponent::getGraspingObject(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), cl_moveit2z::CpGraspingComponent::gripperLink_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, cl_moveit2z::ClMoveit2z::planningSceneInterface, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), and targetObjectName_.

Here is the call graph for this function:

onEntry() [2/2]

virtual void cl_moveit2z::CbAttachObject::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

onExit() [1/2]

void cl_moveit2z::CbAttachObject::onExit ( )

inlineoverridevirtual

Called when the behavior is exited.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 97 of file cb_attach_object.hpp.

{}

onExit() [2/2]

virtual void cl_moveit2z::CbAttachObject::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Member Data Documentation

targetObjectName_

std::string cl_moveit2z::CbAttachObject::targetObjectName_

Name of the target object to attach.

Definition at line 100 of file cb_attach_object.hpp.

Referenced by onEntry().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_attach_object.hpp
• smacc2_client_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_attach_object.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_attach_object.cpp