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(moveit_py) add update_frame_transforms to planning_scene_monitor #2521

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Nov 10, 2023
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(moveit_py) add update_frame_transforms to planning_scene_monitor #2521

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1 change: 1 addition & 0 deletions moveit_py/moveit/planning.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ class PlanningSceneMonitor:
def start_state_monitor(self, *args, **kwargs) -> Any: ...
def stop_scene_monitor(self, *args, **kwargs) -> Any: ...
def stop_state_monitor(self, *args, **kwargs) -> Any: ...
def update_frame_transforms(self, *args, **kwargs) -> Any: ...
def wait_for_current_robot_state(self, *args, **kwargs) -> Any: ...
@property
def name(self) -> Any: ...
9 changes: 9 additions & 0 deletions moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
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Expand Up @@ -91,6 +91,15 @@ void initPlanningSceneMonitor(py::module& m)
str: The name of this planning scene monitor.
)")

.def("update_frame_transforms", &planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms,
R"(
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.
)")

.def("start_scene_monitor", &planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor,
R"(
Starts the scene monitor.
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