Behaviors Hub

Name	Category	Node Type	Used In	Description
3 Waypoints Pick and Place	Application - Basic Examples	Objective	-	Basic example of repeatedly picking a small medicine bottle from the table, placing it in the sorting tray, and then picking it back out and returning it to the original spot. Loops until cancelled.
Add Poses to MTC Task	Motion - Task Planning	Objective	-	Initializes a new MTC task with the current state and adds a sequence of target poses.
Add Table to Planning Scene	Perception - Planning Scene	Objective	-
Add Waypoints to MTC Task	Motion - Task Planning	Objective	-	Retrieves waypoints and adds them to an MTC task for motion planning.
AddBottlesToPlanningScene	Perception - Planning Scene	Objective	-	Detects flasks using ML and adds them as collision objects to the planning scene
AddCollisionBox	Planning Scene	Behavior	-	Adds a box-shaped CollisionObject to the planning scene. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. If an entry with the same id already exists in world.collision_objects, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced. If an entry with the same id is currently attached to the robot (robot_state.attached_collision_objects), the Behavior fails regardless of overwrite. The caller must detach the object first; this Behavior never modifies the attached list.
AddCollisionBoxInFrontOfEndEffector	Perception - Planning Scene	Objective	-	Adds a collision box in front of the end effector with the specified ID, dimensions and offset.
AddCollisionCylinder	Planning Scene	Behavior	-	Adds a cylinder-shaped CollisionObject to the planning scene. The cylinder axis lies along the local Z axis of the supplied pose. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. If an entry with the same id already exists in world.collision_objects, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced. If an entry with the same id is currently attached to the robot (robot_state.attached_collision_objects), the Behavior fails regardless of overwrite. The caller must detach the object first; this Behavior never modifies the attached list.
AddCollisionMesh	Planning Scene	Behavior	-	Adds a mesh CollisionObject to the planning scene. The mesh is loaded from the URI at mesh_file_path, typically a package:// or file:// URI to a .stl, .obj, or .dae file. The scale port defaults to 1.0;1.0;1.0 (native size). Set it to stretch the mesh per-axis in its local frame, e.g. 2.0;2.0;2.0 to double the mesh uniformly. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. If an entry with the same id already exists in world.collision_objects, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced. If an entry with the same id is currently attached to the robot (robot_state.attached_collision_objects), the Behavior fails regardless of overwrite. The caller must detach the object first; this Behavior never modifies the attached list.
AddCollisionObject	Planning Scene	Behavior	-	Adds a CollisionObject to the planning scene. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. If an entry with the same id already exists in world.collision_objects, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced. If an entry with the same id is currently attached to the robot (robot_state.attached_collision_objects), the Behavior fails regardless of overwrite. The caller must detach the object first; this Behavior never modifies the attached list.
AddCollisionObjectToPlanningScene	Perception - Planning Scene	Objective	-	Adds a collision box to the planning scene with the specified ID and pose.
AddCollisionSphere	Planning Scene	Behavior	-	Adds a sphere-shaped CollisionObject to the planning scene. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. If an entry with the same id already exists in world.collision_objects, the Behavior fails unless overwrite is true, in which case the existing world entry is replaced. If an entry with the same id is currently attached to the robot (robot_state.attached_collision_objects), the Behavior fails regardless of overwrite. The caller must detach the object first; this Behavior never modifies the attached list.
AddOverageToPath	Path Generation	Behavior	-	Extend a path at both ends by adding evenly spaced overage waypoints along a specified local axis (x, y, or z). Automatically determines the outward direction at each end of the path.
AddPointCloudToVector	Vector Handling	Behavior	-	Adds a point cloud to a vector of point clouds in the blackboard.
AddPoseStampedToVector	Vector Handling	Behavior	-	Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard.
AddToVector Deprecated	Vector Handling	Objective	-	DEPRECATED: Use PushBackVector instead. Add an element to the end of a vector.
AddToolToScene Deprecated	Grasping	Behavior	-	DEPRECATED: Use AddURDF instead. This Behavior adds a tool to the planning scene as a collision object at the specified pose. The tool is given as a URDF file, which describes the kinematics and collision geometry. See also AttachTool for attaching a tool.
AddURDF	Planning Scene	Behavior	-	This Behavior adds a URDF object to the planning scene as a collision object at the specified pose. The object is given as a URDF file, which describes the kinematics and collision geometry. If the URDF contains joints and those are reported in the /joint_states topic, the object collision shapes will update their state accordingly. See also AttachURDF for attaching a URDF object to the robot.
AddVirtualObjectToPlanningScene Deprecated	Perception - Planning Scene	Behavior	-	DEPRECATED: Use a shape-specific AddCollision* Behavior together with SetCollisionRule to reproduce the virtual-collision semantics. Add a virtual collision object to the planning scene. A virtual collision object is not a physical object, but an object placed in the robot's representation of the environment to forbid planning into that space. Virtual objects are allowed to collide with other virtual objects. Note: The id of the virtual object is expected to start with `virtual_` to indicate that it is a virtual collision object. If the id does not start with `virtual_`, it is prepended onto the object id.
AdjustPoseWithIMarker	User Input	Behavior	-	Requests a user to manually adjust a collection of poses using interactive markers in the UI. The UI will have a prompt flow that spawns interactive markers at the initial poses for users to adjust. These IMarkers will spawn one at a time. The input list of prompts must be the same length as the input list of initial poses. The output is a list of adjusted stamped poses.
AlwaysFailure	Control Flow	Behavior	-	Immediately return FAILURE.
AlwaysSuccess	Control Flow	Behavior	-	Immediately return SUCCESS.
AppendOrientationConstraint Deprecated	Motion - Planning	Behavior	-	Appends a moveit_msgs/OrientationConstraint to an existing moveit_msgs/Constraints. The orientation constraint parameters are defined from an input yaml file.
AttachObject	Planning Scene	Behavior	-	Attaches a collision object that is already in the planning scene to a robot link. Works for collision objects in the world. For URDF objects, use AttachURDF instead. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. By default the object keeps its current pose relative to the link. Wire the optional relative_transform port to attach the object at a chosen transform (link to object), regardless of where the object currently is. When relative_transform is wired and the object is already attached to the requested link, the object is re-posed to the requested transform instead of being treated as a no-op. Succeeds without changes (no-op) when the id is already attached to the requested link and no relative_transform is requested: the attachment intent is already satisfied. Fails when object_id or link_name is empty, when the id is absent from the scene, or when the id is attached to a different link.
AttachTool Deprecated	Grasping	Behavior	-	DEPRECATED: Use AttachURDF instead. This Behavior attaches a tool to a robot for motion planning purposes. The tool is attached to the robot at the specified link and relative pose. The tool is given as a URDF file, which describes the kinematics and collision geometry. Once attached, the tool will move with the link it is attached to. If the tool contains joints and those are reported in the /joint_states topic, the tool collision shapes will update their state accordingly. If the tool is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port. See also DetachOrRemoveTool for detaching a tool.
AttachURDF	Planning Scene	Behavior	-	This Behavior attaches a URDF object to a robot for motion planning purposes. The URDF object is attached to the robot at the specified link and relative pose. The URDF object is given as a URDF file, which describes the kinematics and collision geometry. Once attached, the URDF object will move with the link it is attached to. If the URDF object contains joints and those are reported in the /joint_states topic, the URDF object collision shapes will update their state accordingly. If the URDF object is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port. See also DetachURDF for detaching a URDF object.
AveragePoseStamped	Pose Handling	Behavior	-	Calculates the running average of incoming Pose Stamped ROS messages. It can be configured to terminate after a finite number of samples or continuously calculate the average using a rolling window of a fixed size denoted by `num_samples`. If the current sample exceeds "max_distance" or "max_rotation" (specified as input ports) from the current average pose the behavior will return FAILURE.
AveragePoseStampedVector	Pose Handling	Behavior	-	Returns the average PoseStamped from a vector of PoseStamped.
AvoidPointsInCoveragePath	Path Generation	Behavior	-	Insert semicircular detours into a coverage path to route around obstacle points. Filters obstacles by boustrophedon spacing distance and generates arc segments on the opposite side of the path from each obstacle.
BiasedCoinFlip	Utility	Behavior	-	Simulates flipping a biased coin with the specified probability of success.
BlendJointTrajectories	Motion - Planning	Behavior	-	Blend a sequence of joint trajectories into a single trajectory with smooth transitions. Takes a vector of JointTrajectory messages and produces a single blended trajectory. At each connection point between consecutive trajectories, a local blending segment is generated using Ruckig to smoothly transition from one trajectory to the next. The blending region is defined by blending_radius, a Euclidean distance in joint space from the connection point. The individual trajectories are preserved outside the blending regions. All input trajectory points must have position, velocity, and acceleration data populated. The distance between the end of each trajectory and the start of the next must be within connection_tolerance.
BlockUntilParameterIsTrue	Utility	Behavior	-	Returns RUNNING until the named blackboard entry evaluates as true, then returns SUCCESS. Accepted forms of true: native bool true, non-zero int, and bool-parseable strings ("true"/"1", as written by XML ). A missing entry keeps the behavior in RUNNING (the writer may not have run yet). An entry that is present but cannot be interpreted as bool returns FAILURE so configuration mistakes surface immediately. Use under a Parallel control to gate one branch on a flag set by another branch. Pass the entry name as a literal string (parameter_name="my_flag"), not as a {blackboard pointer}, because the watched entry is resolved by name at runtime.
BreakpointSubscriber	User Input	Behavior	-	Subscribes to a topic that can be used for pausing an Objective during execution to allow debug introspection. This Behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an Objective. An optional message port lets the objective author surface a human-readable hint that the UI displays under the breakpoint prompt.
CalculatePoseOffset	Pose Handling	Behavior	-	Calculates the offset transform from source_pose to destination_pose.
CalibrateCameraPose	Perception – Camera Calibration	Behavior	-	Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector.
CallTriggerService	Control Flow	Behavior	-	Send a request to a std_srvs::srv::Trigger service server and wait until the server sends a response. Given the name of a service server which advertises a service with type std_srvs::srv::Trigger, this Behavior composes a std_srvs::srv::Trigger::Request message, sends the request to the server, and waits for the server to return a service response message. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. The service server does not return a response before the configured timeout duration has elapsed (default is 3 seconds, use a negative value for infinite timeout). The service response is received, but its success field is set to False. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
Cartesian Draw Geometry From File	Training Examples	Objective	-	Training example that shows how to load a Cartesian path from a file and execute the path
Cartesian Path with Collision Checking	Training Examples	Objective	-	An example of planning and executing a straight line path with base and arm motion
Cartesian Plan Simple Square	Training Examples	Objective	-	Training example that shows how to create a path from poses and execute the path
CheckCuboidSimilarity	Perception - Planning Scene	Behavior	-	Check if an input object is similar to another object. Succeeds if the objects are similar within the provided criteria and fails if they are not similar.
Clear Previous Obstacles	Perception - Scene Constraints	Objective	-	Clear previous scene obstacles
ClearAllVisualMarkers	Visualization	Behavior	-	Deletes all visual markers currently displayed in the UI.
Close Gripper	Grasping	Objective	-	Close the gripper
Compute IK, Plan and Move	Training Examples	Objective	-	An example showing how to compute Inverse Kinematics (IK) on a pose, then plan a path to get to the solution found.
ComputeInverseKinematics	Motion - Planning	Behavior	-	Computes Inverse Kinematics for a given planning group and set of target poses, using the PoseIK solver. The planning group can be either a kinematic chain or a kinematic tree. In the most common case (e.g. kinematic chains), `target_poses` and `tip_links` will contain a single element each. In more complex cases (e.g. kinematic trees, like a humanoid torso), `target_poses` and `tip_links` may contain multiple elements, therefore solving the IK problem simultaneously for multiple end-effectors. The Behavior also takes a Planning Scene as input, which will be used to check for collisions during the IK computation. The IK solution, if found, is guaranteed to be collision-free with respect to the obstacles in the given Planning Scene. This Behavior returns the IK solution as a `moveit_studio_agent_msgs::msg::RobotJointState`, which can be used as input in motion planning Behaviors, e.g. `PlanToJointGoal`.
ComputeLinkPoseForwardKinematics	Motion - Planning	Behavior	-	Computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states.
ComputeLinkPoseFromWaypoint	Manipulation	Objective	-	This objective retrieves a named waypoint, unpacks the joint state, gets the current planning scene, and computes the pose of a specified link using forward kinematics. The resulting pose is output as a geometry_msgs::msg::PoseStamped.
ComputePathToPoseAction	Navigation	Behavior	-	Compute a path for a robot base towards a pose, by sending a request to a Nav2 action server. Given an action server advertising an action with type nav2_msgs::msg::ComputePathToPose, a geometry_poses::msg::PoseStamped message defining the goal pose, this Behavior composes a ComputePathToPose::Request message using the pose message and the settings. It sends the action request to the server and waits for the server to the result. If the server completes the action successfully, this Behavior succeeds. The ComputePathToPose action returns a nav_msgs::msg::Path and builtin_interfaces::msg::Duration as a result. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The Behavior's action client fails to send the action goal to the action server. The action server does not return an action result before the specified timeout duration has elapsed. The navigation goal failed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
ComputeSignedDistanceField	Motion - Planning	Behavior	-	Converts a moveit_msgs::msg::PlanningScene into a propagation distance field over an axis-aligned bounding box defined in the planning frame. Each world collision object in the scene is voxelized into the field at its world-frame pose (composing the object root pose with each shape's local pose). Robot links named in link_names are additionally voxelized at their current world transforms (the link's world transform composed with each shape's collision-origin transform). This Behavior is intended to run once per task after the planning scene is finalized. The resulting distance field is published on the sdf output port so downstream collision-aware planners can reuse it without rebuilding. When signed_distance is enabled, distances are propagated negatively inside obstacles, producing a true signed distance field. Cells farther than max_distance from the nearest obstacle clamp to max_distance.
ComputeTrayPlacePositionsUsingAprilTags	Vision	Behavior	-	Computes a grid of place positions within a tray detected by its AprilTag. Finds the tray tag by ID, uses its 3D pose plus a known offset to define the tray center, then generates a grid of positions with the specified number of columns per row and row spacing. Rows fill from near the tag toward the far end of the tray (top-to-bottom). Positions are transformed to the world frame with a fixed gripper-down orientation. If an input image is provided, annotates it with green circles matching the bottle diameter at each position.
ComputeVelocityToAlignWithTarget	Motion - Controls	Behavior	-	This Behavior can be used to compute a Cartesian velocity to move a given 'end-effector' frame directly towards a 'target'. The target state of motion (its position and velocity) is required as input. State estimation Behaviors can be used to get this motion estimate. This Behavior will then compute a Cartesian velocity that decreases the pose error between the 'end-effector' and the 'target', while at the same time tracking the target's velocity. It can be used in combination with a Cartesian Velocity controller (e.g. VFC) or Servo to reach objects in motion.
Constrained Pick and Place Subtree	Motion - Execute	Objective	-	Takes in pick and place waypoints, auto-computes pre-positions using forward kinematics with a height offset, and uses force-controlled lowering for placement.
Convert CollisionObject To GraspableObject	Perception - Planning Scene	Objective	-	Converts a moveit_msgs::msg::CollisionObject type to a moveit_studio_vision_msgs::msg::GraspableObject.
ConvertMtcSolutionToJointTrajectory	Motion - Task Planning	Behavior	-	Extracts joint space trajectories from an MTC solution and adds time parameterization using TOTG.
ConvertTransformStampedToPoseStamped	Conversions	Behavior	-	Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message.
Create PCL Poses Vector	Vector Handling	Objective	-	Creates a sequence of stamped poses and adds them to a vector
Create Point Cloud Vector From Masks	Perception - ML	Objective	-	Create point cloud vector From masks
Create Pose Vector	Vector Handling	Objective	-	Creates a sequence of stamped poses and adds them to a vector
CreateAccelMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Accel message.
CreateAccelStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::AccelStamped message.
CreateAccelWithCovarianceMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::AccelWithCovariance message.
CreateAccelWithCovarianceStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::AccelWithCovarianceStamped message.
CreateAdmittanceParametersMessage	Conversions	Behavior	-	Create behavior for a moveit_pro_controllers_msgs::msg::AdmittanceParameters message.
CreateAgentInfoMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::AgentInfo message.
CreateAllowedCollisionEntryMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::AllowedCollisionEntry message.
CreateAllowedCollisionMatrixMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::AllowedCollisionMatrix message.
CreateAttachedCollisionObjectMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::AttachedCollisionObject message.
CreateBatteryStateMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::BatteryState message.
CreateBehaviorParameterDescriptionMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameterDescription message.
CreateBehaviorParameterMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameter message.
CreateBehaviorTreeStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::BehaviorTreeStatus message.
CreateBoolMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Bool message.
CreateBoundingBox2D	Perception - 2D Image	Behavior	-	Construct a BoundingBox2D message from upper-left corner coordinates and dimensions. Useful for specifying a single box prompt to segmentation behaviors such as GetMasks2DFromExemplar.
CreateBoundingBoxFromOffset	Perception - 2D Image	Behavior	-	Given an exemplar image and optional padding fraction, produce a single BoundingBox2D covering the (padded) exemplar image dimensions. The output box is in exemplar image pixel coordinates and is intended for use as exemplar_bboxes input to GetMasks2DFromExemplar.
CreateBoundingBoxes2D	Perception - 2D Image	Behavior	-	Convert a flat vector of doubles into a vector of BoundingBox2D messages. Values are specified as x; y; w; h per box (semicolons are the BT XML separator), using upper-left corner coordinates. The total count of values must be a multiple of 4. Useful for specifying multiple box prompts inline in behavior tree XML.
CreateBoundingVolumeMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::BoundingVolume message.
CreateBreakpointStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::BreakpointStatus message.
CreateByteMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Byte message.
CreateByteMultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::ByteMultiArray message.
CreateCameraInfoMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::CameraInfo message.
CreateCartesianPointMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::CartesianPoint message.
CreateCartesianSelectionVectorMessage	Conversions	Behavior	-	Create behavior for a moveit_pro_controllers_msgs::msg::CartesianSelectionVector message.
CreateCartesianTrajectoryMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::CartesianTrajectory message.
CreateCartesianTrajectoryPointMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::CartesianTrajectoryPoint message.
CreateChannelFloat32Message	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::ChannelFloat32 message.
CreateCharMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Char message.
CreateClientInfoMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::ClientInfo message.
CreateCollisionObjectFromSolidPrimitive Deprecated	Perception - Planning Scene	Behavior	-	DEPRECATED: Use a shape-specific AddCollision* Behavior to add a shape in one step, or AddCollisionObject to apply a prebuilt CollisionObject.Creates a CollisionObject from a SolidPrimitive, pose, and object ID.
CreateCollisionObjectMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::CollisionObject message.
CreateCollisionSpheresAtClosestPoints	Perception - Point Cloud Downsampling to Spheres	Behavior	-	This behavior receives a point cloud, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message.
CreateColorRGBAMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::ColorRGBA message.
CreateCompressedImageMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::CompressedImage message.
CreateConstraintEvalResultMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::ConstraintEvalResult message.
CreateConstraintsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::Constraints message.
CreateContactInformationMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::ContactInformation message.
CreateCostSourceMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::CostSource message.
CreateDisplayRobotStateMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::DisplayRobotState message.
CreateDisplayTrajectoryMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::DisplayTrajectory message.
CreateDurationMessage	Conversions	Behavior	-	Create behavior for a builtin_interfaces::msg::Duration message.
CreateEmptyMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Empty message.
CreateEndEffectorMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::EndEffector message.
CreateEventMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::Event message.
CreateFaultStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::FaultStatus message.
CreateFloat32Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Float32 message.
CreateFloat32MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Float32MultiArray message.
CreateFloat64Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Float64 message.
CreateFloat64MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Float64MultiArray message.
CreateFluidPressureMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::FluidPressure message.
CreateGenericTrajectoryMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::GenericTrajectory message.
CreateGraspInfoMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::GraspInfo message.
CreateGraspMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::Grasp message.
CreateGraspableFaceMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::GraspableFace message.
CreateGraspableObject	Grasping	Behavior	-	Creates a collision object (a cuboid) as a GraspableObject message. The cuboid will be centered at the specified PoseStamped with the same frame. The cuboid will have width of dx, length of dy, and height of dz. Returns the generated cuboid graspable object on the output port. To add this object to the planning scene, use ModifyObjectInPlanningScene.
CreateGraspableObjectMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::GraspableObject message.
CreateGripperTranslationMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::GripperTranslation message.
CreateHeaderMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Header message.
CreateIlluminanceMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Illuminance message.
CreateImageMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Image message.
CreateImuMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Imu message.
CreateInertiaMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Inertia message.
CreateInertiaStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::InertiaStamped message.
CreateInt16Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int16 message.
CreateInt16MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int16MultiArray message.
CreateInt32Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int32 message.
CreateInt32MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int32MultiArray message.
CreateInt64Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int64 message.
CreateInt64MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int64MultiArray message.
CreateInt8Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int8 message.
CreateInt8MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::Int8MultiArray message.
CreateJointConstraintMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::JointConstraint message.
CreateJointLimitsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::JointLimits message.
CreateJointState	Motion - Planning	Behavior	-	Creates a moveit_studio_agent_msgs/RobotJointState message and writes it to the blackboard. This Behavior takes the current JointState of the robot and overwrites the positions, velocities and efforts of those joints indicated in the 'joint_names' input port. `joint_names` and `positions` are mandatory, and their sizes have to match. Otherwise an error will be returned. `velocities` and `efforts` are optional. If specified, their size needs to match with the size of `joint_names`.
CreateJointStateMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::JointState message.
CreateJointTrajectoryMessage	Conversions	Behavior	-	Create behavior for a trajectory_msgs::msg::JointTrajectory message.
CreateJointTrajectoryPointMessage	Conversions	Behavior	-	Create behavior for a trajectory_msgs::msg::JointTrajectoryPoint message.
CreateJointVelocityControllerStateMessage	Conversions	Behavior	-	Create behavior for a moveit_pro_controllers_msgs::msg::JointVelocityControllerState message.
CreateJoyFeedbackArrayMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::JoyFeedbackArray message.
CreateJoyFeedbackMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::JoyFeedback message.
CreateJoyMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Joy message.
CreateJsonMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::Json message.
CreateKinematicSolverInfoMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::KinematicSolverInfo message.
CreateLaserEchoMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::LaserEcho message.
CreateLaserScanMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::LaserScan message.
CreateLicenseInfoMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::LicenseInfo message.
CreateLinkPaddingMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::LinkPadding message.
CreateLinkScaleMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::LinkScale message.
CreateLogMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::Log message.
CreateMagneticFieldMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::MagneticField message.
CreateMask2DMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::Mask2D message.
CreateMask3DMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::Mask3D message.
CreateMotionPlanDetailedResponseMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionPlanDetailedResponse message.
CreateMotionPlanRequestMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionPlanRequest message.
CreateMotionPlanResponseMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionPlanResponse message.
CreateMotionSequenceItemMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionSequenceItem message.
CreateMotionSequenceRequestMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionSequenceRequest message.
CreateMotionSequenceResponseMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MotionSequenceResponse message.
CreateMoveItErrorCodesMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::MoveItErrorCodes message.
CreateMtcTaskDataMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_internal_msgs::msg::MtcTaskData message.
CreateMultiArrayDimensionMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::MultiArrayDimension message.
CreateMultiArrayLayoutMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::MultiArrayLayout message.
CreateMultiDOFJointStateMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::MultiDOFJointState message.
CreateMultiDOFJointTrajectoryMessage	Conversions	Behavior	-	Create behavior for a trajectory_msgs::msg::MultiDOFJointTrajectory message.
CreateMultiDOFJointTrajectoryPointMessage	Conversions	Behavior	-	Create behavior for a trajectory_msgs::msg::MultiDOFJointTrajectoryPoint message.
CreateMultiEchoLaserScanMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::MultiEchoLaserScan message.
CreateNavSatFixMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::NavSatFix message.
CreateNavSatStatusMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::NavSatStatus message.
CreateObjectColorMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::ObjectColor message.
CreateObjectDetectionArrayMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::ObjectDetectionArray message.
CreateObjectDetectionMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::ObjectDetection message.
CreateObjectSubframeMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::ObjectSubframe message.
CreateObjectiveServerStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::ObjectiveServerStatus message.
CreateOrientationConstraintMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::OrientationConstraint message.
CreateOrientedBoundingBoxMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::OrientedBoundingBox message.
CreatePipelineStateMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PipelineState message.
CreatePlaceLocationMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlaceLocation message.
CreatePlannerInterfaceDescriptionMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlannerInterfaceDescription message.
CreatePlannerParamsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlannerParams message.
CreatePlanningGroupMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::PlanningGroup message.
CreatePlanningOptionsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlanningOptions message.
CreatePlanningSceneComponentsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlanningSceneComponents message.
CreatePlanningSceneMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlanningScene message.
CreatePlanningSceneWithoutOctomapMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_internal_msgs::msg::PlanningSceneWithoutOctomap message.
CreatePlanningSceneWorldMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PlanningSceneWorld message.
CreatePoint32Message	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Point32 message.
CreatePointCloud2Message	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::PointCloud2 message.
CreatePointCloudMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::PointCloud message.
CreatePointCloudPCDMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_vision_msgs::msg::PointCloudPCD message.
CreatePointFieldMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::PointField message.
CreatePointMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Point message.
CreatePointStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PointStamped message.
CreatePolygonInstanceMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PolygonInstance message.
CreatePolygonInstanceStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PolygonInstanceStamped message.
CreatePolygonMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Polygon message.
CreatePolygonStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PolygonStamped message.
CreatePose2DMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Pose2D message.
CreatePoseArrayMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PoseArray message.
CreatePoseMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Pose message.
CreatePoseStamped	Pose Handling	Behavior	-	Creates a geometry_msgs/PoseStamped message and writes it to the blackboard. Example usecase: manually creating a target pose for a robot to plan to.
CreatePoseStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PoseStamped message.
CreatePoseWithCovarianceMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PoseWithCovariance message.
CreatePoseWithCovarianceStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::PoseWithCovarianceStamped message.
CreatePositionConstraintMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PositionConstraint message.
CreatePositionIKRequestMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::PositionIKRequest message.
CreateQuaternionMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Quaternion message.
CreateQuaternionStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::QuaternionStamped message.
CreateRangeMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Range message.
CreateRegionOfInterestMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::RegionOfInterest message.
CreateRelativeHumidityMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::RelativeHumidity message.
CreateRequestStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_sdk_msgs::msg::RequestStatus message.
CreateRobotJointStateMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::RobotJointState message.
CreateRobotStateMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::RobotState message.
CreateRobotTrajectoryMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::RobotTrajectory message.
CreateServoStatusMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::ServoStatus message.
CreateSolidPrimitiveBox Deprecated	Perception - Planning Scene	Behavior	-	DEPRECATED: Use AddCollisionBox to add a box to the planning scene in one step.Creates a box-shaped SolidPrimitive.
CreateStampedPose Deprecated	Pose Handling	Behavior	-	DEPRECATED: Use CreatePoseStamped instead. Creates a geometry_msgs/PoseStamped message and writes it to the blackboard. Example usecase: manually creating a target pose for a robot to plan to.
CreateStampedTwist Deprecated	Pose Handling	Behavior	-	DEPRECATED: Use CreateTwistStamped instead. Creates a geometry_msgs/TwistStamped message and writes it to the blackboard.
CreateStampedWrench Deprecated	Pose Handling	Behavior	-	DEPRECATED: Use CreateWrenchStamped instead. Creates a geometry_msgs/WrenchStamped message and writes it to the blackboard.
CreateStationaryTrajectory	Motion - Planning	Behavior	-	This behavior create a stationary trajectory of specified duration at the provided JointState ROS message.
CreateStringMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::String message.
CreateTF2ErrorMessage	Conversions	Behavior	-	Create behavior for a tf2_msgs::msg::TF2Error message.
CreateTFMessageMessage	Conversions	Behavior	-	Create behavior for a tf2_msgs::msg::TFMessage message.
CreateTeleoperationModeMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_sdk_msgs::msg::TeleoperationMode message.
CreateTemperatureMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::Temperature message.
CreateTimeMessage	Conversions	Behavior	-	Create behavior for a builtin_interfaces::msg::Time message.
CreateTimeReferenceMessage	Conversions	Behavior	-	Create behavior for a sensor_msgs::msg::TimeReference message.
CreateTrajectoryConstraintsMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::TrajectoryConstraints message.
CreateTransform	Pose Handling	Behavior	-	Creates a geometry_msgs/Transform message from a translation and a rotation quaternion and writes it to the blackboard. The quaternion is normalized.
CreateTransformMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Transform message.
CreateTransformStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::TransformStamped message.
CreateTwistMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Twist message.
CreateTwistStamped	Pose Handling	Behavior	-	Creates a geometry_msgs/TwistStamped message and writes it to the blackboard.
CreateTwistStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::TwistStamped message.
CreateTwistWithCovarianceMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::TwistWithCovariance message.
CreateTwistWithCovarianceStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::TwistWithCovarianceStamped message.
CreateUInt16Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt16 message.
CreateUInt16MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt16MultiArray message.
CreateUInt32Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt32 message.
CreateUInt32MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt32MultiArray message.
CreateUInt64Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt64 message.
CreateUInt64MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt64MultiArray message.
CreateUInt8Message	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt8 message.
CreateUInt8MultiArrayMessage	Conversions	Behavior	-	Create behavior for a std_msgs::msg::UInt8MultiArray message.
CreateVector	Vector Handling	Objective	-	Create a new vector of any type.
CreateVector3Message	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Vector3 message.
CreateVector3StampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Vector3Stamped message.
CreateVelocityForceCommandMessage	Conversions	Behavior	-	Create behavior for a moveit_pro_controllers_msgs::msg::VelocityForceCommand message.
CreateVelocityForceControllerStateMessage	Conversions	Behavior	-	Create behavior for a moveit_pro_controllers_msgs::msg::VelocityForceControllerState message.
CreateVelocityStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::VelocityStamped message.
CreateVisibilityConstraintMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::VisibilityConstraint message.
CreateWaypointMessage	Conversions	Behavior	-	Create behavior for a moveit_studio_agent_msgs::msg::Waypoint message.
CreateWorkspaceParametersMessage	Conversions	Behavior	-	Create behavior for a moveit_msgs::msg::WorkspaceParameters message.
CreateWrenchMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::Wrench message.
CreateWrenchStamped	Pose Handling	Behavior	-	Creates a geometry_msgs/WrenchStamped message and writes it to the blackboard.
CreateWrenchStampedMessage	Conversions	Behavior	-	Create behavior for a geometry_msgs::msg::WrenchStamped message.
CropPointsInBox	Perception - 3D Point Cloud	Behavior	-	Given a point cloud and a box-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
CropPointsInSphere	Perception - 3D Point Cloud	Behavior	-	Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
CropPosesInBox	Perception - 3D Point Cloud	Behavior	-	Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
Cycle Between Waypoints	Application - Basic Examples	Objective	-	Example of repeatedly moving between two saved poses.
Delay	Control Flow	Decorator	-	This node can only have 1 child.Sleep for a given duration of time and then tick the child node.
DetachObject	Planning Scene	Behavior	-	Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. Succeeds without changes (no-op) when the id is not attached to the robot, whether it is already a free world object or absent from the scene entirely: the detachment intent is already satisfied. Fails only when object_id is empty. For objects attached via AttachURDF, use DetachURDF instead.
DetachTool Deprecated	Grasping	Behavior	-	DEPRECATED: Use DetachURDF or RemoveURDFFromScene instead. Detach a tool from the robot or remove it from the planning scene. The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.
DetachURDF	Planning Scene	Behavior	-	Detach a URDF object from the robot. The URDF object with the given urdf_name will be detached from the robot. Once detached, the object will no longer move with the robot and will not be considered in motion planning calculations.
DetectAprilTags	Perception - 2D Image	Behavior	-	Detects AprilTag markers from an image.
DiffusionPolicy	Perception - Machine Learning	Behavior	-	Run a diffusion policy with a scene and wrist camera.
DilateMask2D	Perception - 2D Image	Behavior	-	Apply morphological dilation to a vector of 2D masks. Dilation expands white (non-zero) regions using a square structuring element of the specified size. Useful for filling small holes, connecting nearby regions, and making mask boundaries more inclusive.
DoTeleoperateAction	User Input	Behavior	-	Enables teleoperation mode, allowing the user to manually control the robot. The output ports are the values reported by The UI via the ROS 2 topic /do_teleoperate/_action/feedback
EditWaypoint	User Input	Behavior	-	Uses the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase". If set to "save", then the "joint_group_names" parameter must also be set to specify which joint groups to include in the saved waypoint. These are the groups defined in your robot's SRDF.
ErodeMask2D	Perception - 2D Image	Behavior	-	Apply morphological erosion to a vector of 2D masks. Erosion shrinks white (non-zero) regions using a square structuring element of the specified size. Useful for removing small noise artifacts and separating touching objects.
ErrorCheckVectorSize	Vector Handling	Objective	-	Assert that the input vector is the expected length, and if not show a UI error and return FAILURE
Execute MTC Solution (JTC)	Motion - Execute	Objective	-	Switch controllers and execute an MTC solution using a standard Joint Trajectory Controller. This is a convenience wrapper around Execute MTC Solution with execution_pipeline set to 'jtc'.
ExecuteFollowJointTrajectory Deprecated	Motion - Planning	Behavior	-	DEPRECATED: This Behavior is deprecated. Please use ExecuteTrajectory with execution_pipeline="follow_joint_trajectory_action" instead. Execute a given joint trajectory by sending a request to an action server. The corresponding joint trajectory controller needs to be active, which can be done with the SwitchController Behavior. Given the name of an action server advertising an action with type control_msgs::action::FollowJointTrajectory and a trajectory_msgs::msg::JointTrajectory message, this Behavior composes a FollowJointTrajectory::Request message using the joint trajectory message. It sends the action request to the server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The joint trajectory message has no data. The given position or time tolerances are invalid (negative). The action result is received, but its contents indicate that the action server failed execute the solution. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
ExecuteMTCTask Deprecated	Motion - Task Planning	Behavior	-	Execute the lowest-cost trajectory in a given MTC Solution by sending a request to an action server named execute_task_solution. This Behavior composes an ExecuteTaskSolution::Request message using the moveit_task_constructor_msgs::msg::Solution supplied through the input data port. It sends the action request to the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server named execute_task_solution is available. The Behavior failed to get the solution from the input data port. The action result is received, but its contents indicate that the action server failed execute the solution. Planning scene modifications by MTC stages are applied to global planning scene as its corresponding sub-solution in the MTC solution is executed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
ExecuteTrajectory	Motion - Planning	Behavior	-	Execute a given joint trajectory by sending a request to either a standard FollowJointTrajectory action server (JTC) or a Joint Trajectory Admittance Controller (JTAC) action server, depending on the value of the execution_pipeline input port. The corresponding controller needs to be active, which can be done with the ActivateControllers Behavior. If execution_pipeline is set to 'jtc', this Behavior sends the trajectory to a standard control_msgs::action::FollowJointTrajectory action server (e.g., JTC or other controllers with that interface). If execution_pipeline is set to 'jtac', this Behavior sends the trajectory to a moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance action server (e.g., JTAC). If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The joint trajectory message has no data. The given tolerances are invalid (negative). The action result is received, but its contents indicate that the action server failed to execute the trajectory.
ExecuteTrajectoryWithAdmittance Deprecated	Motion - Planning	Behavior	-	DEPRECATED: This Behavior is deprecated. Please use ExecuteTrajectory with execution_pipeline="jtac" instead. Execute a given joint trajectory by sending a request to a Joint Trajectory With Admittance controller (JTAC). The corresponding JTAC needs to be active, which can be done with the SwitchController Behavior. Given the name of an action server advertising an action with type moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance and a trajectory_msgs::msg::JointTrajectory message, this Behavior composes a FollowJointTrajectoryWithAdmittance::Request message using the joint trajectory message. It sends the action request to the server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The given arguments are invalid, e.g. empty trajectory, invalid tolerances, etc. The action result is received, but its contents indicate that the action server failed execute the solution. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
ExtractGraspableObjectPose	Grasping	Behavior	-	Accepts a GraspableObject message via an input data port. Returns the GraspableObject's Pose and Header as a PoseStamped.
Fallback	Control Flow	Control Node	-	The FallbackNode is used to try different strategies, until one succeeds. If any child returns RUNNING, previous children are not ticked again.If all the children return FAILURE, this node returns FAILURE.If a child returns RUNNING, this node returns RUNNING.If a child returns SUCCESS, stop the loop and return SUCCESS.
Fan Pose About Tool-Z Subtree	Vector Handling	Objective	-	Expand a single pose into a vector of four yaw-equivalent poses rotated 0/90/180/270 degrees about the tool Z axis. Useful when the object is rotationally symmetric about the gripper axis (e.g., pill bottles, cylinders) — feeding all four variants to an MTC BatchPoseIK lets the planner pick the one closest in joint space to the current arm configuration, avoiding an unnecessary wrist pirouette.
FilterMasks2DByArea	Perception - 2D Image	Behavior	-	Filter a vector of 2D masks based on mask area. Only masks with areas that fall within the specified ranges are included in the output. Useful for removing masks that are too small (noise) or too large (background).
FilterMasks2DByBoundingBox	Perception - 2D Image	Behavior	-	Filter a vector of 2D masks based on bounding box dimensions. Only masks with bounding boxes that fall within the specified ranges are included in the output. Useful for removing masks that are too small (noise) or too large (background).
Find Nearest Pose In Path	Vector Handling	Objective	-	Find the pose in the path with the lowest Euclidean distance to the given search pose. Requires ConverterBehaviorsLoader.
Find and Spray Plane	Training Examples	Objective	-	Finds the plane then generates and executes a coverage path
FindMaskedObjects	Perception - 3D Point Cloud	Behavior	-	Given a point cloud and one or more image masks, create an object corresponding to each masked region.
FindSingularCuboids	Perception - 3D Point Cloud	Behavior	-	Analyze a point cloud and create GraspableObjects for objects found in the cloud. Assume that all objects are cuboids and that all objects are resting on the same flat surface. This Behavior uses the following sequence of operations: Perform a TF lookup to get the transform from the base frame to the point cloud's frame. Crop points within the region specified in the input config options. The crop region is defined relative to the world base frame. Filter the points to remove the ones with all-zero and NaN coordinates. Find the largest plane in the cloud. This plane will be used as the supporting surface. Perform Euclidean clustering on the points which are not part of this plane to create a list of clusters of points which are all separated from each other by a minimum distance threshold. Each cluster represents a separate object. For each cluster: Project the cluster onto the plane. Find the minimal oriented bounding box around these points relative to the plane. Find the height of the cluster relative to the plane. Use the bounding box and height to create a GraspableObject that defines a cuboid enclosing the points. This Behavior makes several key assumptions about the environment: The input point cloud must include a large flat surface, such as a tabletop or floor. The cropping and filtering steps are expected to remove all points which are far away from that surface, so that all remaining clusters of points can be assumed to represent objects which are supported by that surface. If this Behavior completes all analysis steps successfully, it will output a vector of GraspableObjects to the output data port and exit with a SUCCESS status code. After the GraspableObjects are written to the output port, this Behavior publishes a visualization_msgs::msg::MarkerArray message onto the "/visual_markers" topic. This message can be used by RViz to display the objects which were detected in the point cloud. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: The TF lookup to find the transform from the base frame to the point cloud frame does not succeed. After cropping the point cloud to the region of interest and filtering the point cloud to remove NaN and all-zero points, the point cloud is empty. No large flat surface is found within the point cloud. No cuboids are be found in the point cloud after the supporting plane is removed.
FindSlicePlanesAlongEdge	Path Generation	Behavior	-	Generate evenly spaced waypoints (slice planes) along a selected edge of a quadrilateral patch defined by 4 corner waypoints. Waypoints are shifted halfway toward the opposite edge and oriented with Z along the edge direction.
Fit Bottle Model Subtree	Perception - 3D Point Cloud	Objective	-	Fit a bottle STL model to a masked point cloud via ICP and return a grasp pose at the top of the bottle body.
FitLineSegmentToMask3D	Perception - 3D Point Cloud	Behavior	-	Fits a line segment to the points in a 3D mask, ignoring outliers. The line parameters are estimated with the RANSAC algorithm. The RANSAC iterative process hypothesizes line models from random point subsets, selecting the hypothesis that explains the most points in the set. A point is considered explained by a line hypothesis (a.k.a. "inlier") if it is closer than a distance threshold to it. The output segment is contained in the resulting line, and is the shortest segment containing all inlier points.
FollowPathAction	Navigation	Behavior	-	Follow a path with a robot base by sending a request to a Nav2 action server. Given an action server advertising an action with type nav2_msgs::msg::FollowPath, a nav_msgs::msg::Path message containing a path, a controller_id, and a goal_checker_id, this Behavior composes a FollowPath::Request message using the path message and the settings. It sends the action request to the server and waits for the server to return the action feedback and result. During the action, this Behavior copies the action feedback into an output data ports. This includes the distance to goal, and speed. If the server completes the action successfully, this Behavior succeeds. The FollowPath action does not return a result, so upon success, no additional data will be copied into an output data port. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The Behavior's action client fails to send the action goal to the action server. The action server does not return an action result before the specified timeout duration has elapsed. The navigation goal failed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
ForEach	Vector Handling	Decorator	-	Iterate through a vector of BT::Any objects. Note: all vectors are converted to vectors of BT::Any objects when they are placed on the blackboard. Adds the object with its index to the blackboard before ticking child nodes and moving to next iteration.
ForEachUntilSuccess	Vector Handling	Decorator	-	Iterate through a vector of BT::Any objects. Returns Running while checking elements. Returns Success if there are no elements. Returns Success as soon as one succeeds. Returns Failure if all elements fail. Note: all vectors are converted to vectors of BT::Any objects when they are placed on the blackboard. Adds the object with its index to the blackboard before ticking child nodes and moving to next iteration.
Force Relaxation	Motion - Controls	Objective	-	Relaxes the force sensed at the force/torque sensor by moving the robot tip in the direction of the sensed force.
ForceExceedsThreshold	Motion - Controls	Behavior	-	Monitors a wrench topic and returns SUCCESS when ticked if the magnitude of the force components has exceeded a specified threshold for some number of consecutive observations.
ForceFailure	Control Flow	Decorator	-	This node can only have 1 child.If the child returns RUNNING, this node returns RUNNING too.Otherwise, it returns always FAILURE.
ForceSuccess	Control Flow	Decorator	-	This node can only have 1 child.If the child returns RUNNING, this node returns RUNNING too.Otherwise, it returns always SUCCESS.
FrankaGraspAction	Grasping	Behavior	-	Open and close the Franka onboard 2 finger gripper.
Fuse Multiple Views Subtree	Perception - 3D Point Cloud	Objective	-	Moves to three different waypoints, captures point clouds, returns the merged point cloud.
Generate Grid Pattern on Airplane	Training Examples	Objective	-	A training example that plans and executes a coverage path with base and arm motion
GenerateCoveragePath	Motion - Planning	Behavior	-	Creates a zig-zag path for a robot to follow to cover a given area. The zig-zag path is generated by starting at the bottom right corner of the area, moving to the bottom left corner, then moving up the stride distance, back to the right, and so on until the top left corner is reached. The path is generated by moving along the x-axis first, then the y-axis. The width and height parameters define the size of the area to be covered, and the stride distance parameter defines the distance between each zig-zag path, all dimensions given in meters. If the stride distance doesn't add up exactly to the height, the last stride won't be included, i.e. the actual area covered will be less than the given height.
GenerateCuboidGraspPoses	Motion - Task Planning	Behavior	-	Generate cuboid grasp poses for a target GraspableObject.
GeneratePointToPointTrajectory	Motion - Planning	Behavior	-	Generate a joint-space trajectory to move the robot from the start joint state to the end joint state. The output joint_trajectory_msg is a timed joint-space trajectory that can be collision-checked with the ValidateTrajectory Behavior, and executed with ExecuteFollowJointTrajectory. The first point in the trajectory will have a time_from_start equal to the value specified on the start_time input port and will be sampled at the rate specified on the trajectory_sampling_rate input port. velocity_scale_factor, acceleration_scale_factor, and jerk_scale_factor control the desired joint-space motion as a fraction ([0,1]) of the maximum joint velocities, accelerations, and jerks defined in the MoveIt configs. The Behavior succeeds if the entire path could be resolved, or fails otherwise.
GenerateVacuumGraspPoses	Motion - Task Planning	Behavior	-	Generate vacuum grasp poses for a target GraspableObject.
Get AprilTag Pose from Image	Perception - 2D Image	Objective	-	Takes an image snapshot from the wrist camera and attempts to detect an april tag for pose estimation.
Get Bottle Grasp via ICP Subtree	Perception - ML	Objective	-	Segment a bottle with SAM3, derive an ICP initial guess from the mask centroid, and fit the bottle STL via ICP to produce a grasp pose.
Get Collision Free Grasp Subtree	Grasping	Objective	-	Takes a set of grasp poses and returns the first collision free pose.
Get IMarker Pose From Mesh Visualization	Visualization	Objective	-	Visualize a mesh in the UI and use an IMarker to get a grasp pose based on that mesh
Get Point Cloud Center Pose	Training Examples	Objective	-	Take a Wrist Camera Snapshot and return the center pose of the point cloud
Get Transform Frame Pose	Pose Handling	Objective	-	Returns the pose of the requested frame in the world frame.
GetCameraInfo	Perception - 2D Image	Behavior	-	Wait for a sensor_msgs::msg::CameraInfo message to be published on a specified ROS topic for 5 seconds and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::CameraInfo messages are being published, this Behavior subscribes to that topic and waits until a new message is published to the topic. When the Behavior's subscriber receives a new message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::Image messages as inputs can use this message for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was found on the topic, but no message is published on the topic before a 5-second timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_pro_behavior_interface package.
GetCenterFromMask2D	Perception - 2D Image	Behavior	-	Calculate the center point of a 2D mask. The center point can be used for mask refinement with point based segmentation methods.
GetCenterMostAprilTag	Vision	Behavior	-	Gets the stamped pose of the AprilTag detection closest to the center of the camera image. Projects each detection pose into pixel coordinates using the camera intrinsics and selects the one nearest to the image center. Optionally publishes an annotated image showing detected tag outlines.
GetCentroidFromPointCloud	Perception - 3D Point Cloud	Behavior	-	Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud.
GetClosestObjectToPose	Perception - Planning Scene	Behavior	-	Given a collection of CollisionObjects, find the one closest to the provided pose.
GetContourFromPointCloudSlice	Perception - 3D Point Cloud	Behavior	-	Creates a planar contour path around a point cloud slice: Slices a point cloud given the slice_plane and slice_distance_from_plane. Projects these sliced points onto the slice_plane. Outputs a path with poses spaced no farther than max_pose_spacing along the contour. Note: The max_pose_spacing parameter sets an upper limit on waypoint spacing. Waypoints closer than this limit are preserved to maintain contour accuracy.
GetConvexHullPointCloud	Perception - 3D Point Cloud	Behavior	-	Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes and gaps. The hull surface triangles are sampled uniformly at the given density (points per square meter). Output points are colored using the average color of the hull vertices.
GetCurrentPlanningScene	Perception - Planning Scene	Behavior	-	Get the current planning scene.
GetDetectionPose	Pose Handling	Behavior	-	Gets the stamped pose of an object detection given a label or ID, if one exists.
GetElementOfVector	Vector Handling	Behavior	-	Get the element of a vector at the given index. Negative indexes start backwards from the last element.
GetFilenamesFromDirectory	User Created Behaviors	Behavior	-	Gets a vector of all filenames in a given directory (optionally with a given filetype)
GetGraspPoseFromPointCloud	Grasping	Behavior	-	Generate a vector of grasps from a point cloud using the L2G network.
GetGraspableObjectsFromMasks3D	Perception - 3D Point Cloud	Behavior	-	Outputs a graspable object for each point cloud fragment represented by a 3D mask.
GetImage	Perception - 2D Image	Behavior	-	Wait for an image message to be published on a specified ROS topic and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::Image messages are being published, this Behavior subscribes to that topic and waits until a new message is published to the topic. When the Behavior's subscriber receives a new message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::Image messages as inputs can use this message for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was not advertising the topic before the timeout duration has passed. A publisher was found on the topic, but no message is published on the topic before the timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_pro_behavior_interface package.
GetLatestTransform	Pose Handling	Behavior	-	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior.
GetMask2DProperties	Perception - 2D Image	Behavior	-	Extract bounding box dimensions and area from a 2D mask. Returns width, height (in pixels), and total area (count of non-zero pixels). Useful for filtering or analyzing masks based on size.
GetMasks2DAutomask	Perception - ML	Behavior	-	Automatically segments a ROS image message using SAM2 with grid-based point generation. Applies Non-Maximum Suppression to remove overlapping masks and splits disconnected components. Use when you need to detect all objects in a scene without knowing what they are in advance.
GetMasks2DFromExemplar	Perception - ML	Behavior	-	Segments a ROS image using SAM3 with multimodal prompts (text, exemplar image, and/or bounding boxes). Supports any combination of prompt types for flexible segmentation scenarios. Use when you need to segment objects using natural language descriptions, visual examples, or spatial regions.
GetMasks2DFromPointQuery	Perception - ML	Behavior	-	Segments a ROS image message with the SAM2 model, using the provided points represented as a vector of geometry_msgs/PointStamped messages.
GetMasks2DFromTextQuery	Perception - ML	Behavior	-	Segments a ROS image message with the CLIPSeg model, using the text prompts provided as a vector of std::string.
GetMasks3DFromMasks2D	Perception - 3D Point Cloud	Behavior	-	Given a point cloud of a scene and 2D masks from an image of the scene, output a point cloud mask for each image mask.
GetMeshNormalPoses	Grasping	Behavior	-	Given the name of a link in the robot model that has a visual mesh, calculate the surface normals of the mesh and set them to an output data port. The base frame of each mesh normal pose will be the origin frame of the robot link. If calculation of mesh normals succeeds, this Behavior sets the normals to an output data port as a vector of geometry_msgs::msg::PoseStamped ROS messages and finally exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: The provided link name does not correspond to a link in the robot model. The robot model link does not have a visual mesh resource file. The discretization step size is negative. This Behavior is derived from the AsyncBehaviorBase class defined in the moveit_pro_behavior_interface package.
GetOdom	Navigation	Behavior	-	Subscribe to an odometry message and store it on the blackboard.
GetOrientedBoundingBoxFromPointCloud	Perception - 3D Point Cloud	Behavior	-	Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs the center pose and box dimensions. The OBB orientation is disambiguated by choosing the orientation closest to the reference_pose.
GetPointCloud	Perception - 3D Point Cloud	Behavior	-	Wait for a point cloud message to be published on a specified ROS topic and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::PointCloud2 messages are being published, this Behavior subscribes to that topic and waits until a new point cloud message is published to the topic. When the Behavior's subscriber receives a new point cloud message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::PointCloud2 messages as inputs can use this point cloud for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was found on the topic, but no message is published on the topic before a 5-second timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_pro_behavior_interface package.
GetPointCloudFromMask3D	Perception - 3D Point Cloud	Behavior	-	Returns a point cloud with the points selected by a 3D mask.
GetPoints2DFromGeminiQuery	Vision	Behavior	-	Queries Google Gemini with a text prompt and a ROS image to locate 2D points corresponding to features described in the prompt. Reads the API key from the GOOGLE_GEMINI_API_KEY environment variable. The image is JPEG-encoded before transmission to reduce payload size. The prompt must be answerable by Gemini as a set of 2D image locations — that is, it should ask Gemini to find, locate, or point to objects or features visible in the image (e.g. "Find all the screws on the panel" or "Locate the red buttons"). Prompts that do not ask for image locations (e.g. "Describe this image") will produce an empty points list. The request constrains Gemini to emit a JSON object with two fields, narrative (a human-readable answer) and points (normalized 2D image coordinates with short labels), so the response is always schema-conformant. The narrative appears on the response output port, the parsed points on the detected_points output port, and each point's label on the detected_labels output port (in the same order). Prompt Gemini to put metadata such as object IDs, colors, or class names into the labels to plumb that information through to downstream Behaviors.
GetPointsFromUser	User Input	Behavior	-	Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI. The list of point prompts can either contain a single element, meaning the same prompt is displayed for each requested point, or it can be the same size as the list of point names, meaning a different prompt is displayed for each point. The output is a list of stamped points, whose X and Y coordinates are normalized pixel coordinates in the range [0..1]. The requested name of each point is contained in the frame ID of its header.
GetPoseAtGripperandDisplay	Pose Handling	Objective	-	Create a pose at the gripper, transform it, and display it.
GetPoseFromPixelCoords	Perception - 3D Point Cloud	Behavior	-	Given an ordered point cloud and a vector of normalized pixel XY coordinates, outputs a vector of stamped poses corresponding to points normal to the selected coordinates. This assumes that the pixel XY coordinates are normalized, i.e., have values in the range [0..1] relative to the image's height and width. Additionally, the output poses always align the Z axis with the normal of the plane by using the smallest eigenvalue of a planar patch with radius `neighbor_radius` around each selected point. These Z axes point towards the origin of the point cloud frame.
GetPoseFromUser	User Input	Behavior	-	Request a Pose from the user by clicking on an object in the visualization pane. The object must be defined in the scene's URDF. Returns a PoseStamped.
GetRobotJointState	ROS Messaging	Behavior	-	This behavior extracts joint state data from a planning scene object, outputting both a sensor_msgs/JointState and a moveit_studio_agent_msgs/RobotJointState message.
GetSizeOfVector	Vector Handling	Behavior	-	Get the size of the vector.
GetSyncedImageAndPointCloud	Perception - Planning Scene	Behavior	-	Get data from time-synchronized image and point cloud topics and populate them in output ports.
GetSyncedImages	Perception - 2D Image	Behavior	-	Get data from time-synchronized image topics and populate them in output ports.
GetTextFromUser	User Input	Behavior	-	Gets text from user by sending a list of prompts with default values for each prompt. The prompts, values, and text_output ports should all be a vector of the same length.
GetTrajectoryStateAtTime	Motion - Planning	Behavior	-	Get the JointState of a JointTrajectory at a specified time_from_reference either from the start or end of the trajectory. If from_start is true, then the trajectory will be queried at the time_from_reference from its start, otherwise it will be queried at the time_from_reference from its end. If time_from_reference doesn't exactly match a state in the trajectory, but is still within the bounds of the trajectory then the behavior will interpolate between states. The behavior will fail if the time_from_reference is outside the bounds of the trajectory.
Grasp Planning	Motion - Planning	Objective	-	Find a feasible grasp pose out of a set of manually-defined grasp candidates, and move there
Grasp Pose Tuning With April Tag	Application - Advanced Examples	Objective	-	Moves the gripper to the April Tag and then prompts the user to teleop to a grasp pose. Saves the resulting pose to a YAML file.
Grasp Pose Using Yaml	Application - Advanced Examples	Objective	-	Reads a YAML file for grasp pose offset and picks up an object that has an AprilTag marker.
IfThenElse	Control Flow	Control Node	-	IfThenElse must have exactly 2 or 3 children.The first child is the "statement" of the if.If that return SUCCESS, then the second child is executed.Instead, if it returned FAILURE, the third child is executed.If you have only 2 children, this node will return FAILURE whenever the statement returns FAILURE.This is equivalent to add AlwaysFailure as 3rd child.
InitializeMTCTask	Motion - Task Planning	Behavior	-	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this task), and sets it as an output data port.
InsertInVector	Vector Handling	Behavior	-	Insert an element into a vector at the given index. Negative indexes start backwards from the last element.
Interpolate to Joint State	Motion - Execute	Objective	-	Move to a specified joint state using joint interpolation
Inverter	Control Flow	Decorator	-	This node can only have 1 child.Tick the child once and return SUCCESS if the child failed or FAILURE if the child succeeded.If the child returns RUNNING, this node returns RUNNING too.
IsAnyObjectAttached	Perception - Planning Scene	Behavior	-	Checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, FAILURE otherwise.
IsCollisionObjectInPlanningScene	Perception - Planning Scene	Behavior	-	Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise.
IsObjectAttachedTo	Perception - Planning Scene	Behavior	-	Checks a PlanningScene to determine if the given CollisionObject name is attached to the specified robot link.Returns SUCCESS if the object and link are attached; FAILURE otherwise.
IsPoseNearIdentity	Pose Handling	Behavior	-	Succeeds if the pose position norm is below the position tolerance and the absolute rotation is below the rotation tolerance. Useful for evaluating an error pose.
IsUserAvailable	User Input	Behavior	-	Checks for the presence of a user interface by checking if the "/trajectory_bridge" ROS node exists.
IsVisibilityConstraintSatisfied	Perception - Planning Scene	Behavior	-	Check if the robot's current state satisfies a kinematic visibility constraint.
Joint Diagnostic	Application - Basic Examples	Objective	-	Example of cycling through the min and max limits of a single joint, for hardware testing
JointJog	Motion - Execute	Behavior	-	Forward JointJog commands to a Joint Velocity Controller
KeepRunningUntilFailure	Control Flow	Decorator	-	DEPRECATED: This decorator will be removed in MoveIt Pro 10.0. Use `RepeatUnlessFailureEachTick` (defaults to an infinite loop) instead.This node can only have 1 child.Tick the child until it returns FAILURE, then return FAILURE. If the child returns SUCCESS or RUNNING, continue ticking.
ListControllers	Motion - Controls	Behavior	-	Lists controllers from the ros2_control controller manager. Returns a list of controller names. Two independent filters are available: 'state' selects by controller lifecycle state ('all', 'active', or 'inactive'). 'type' selects by interface type ('all' for any, 'command' for controllers that claim command interfaces like joint_trajectory_controller, 'state' for broadcasters with no command interfaces like joint_state_broadcaster). Both filters are applied together. This is useful for composing with SwitchController to save and restore controller states.
Load MuJoCo Robot State	MuJoCo Simulation	Objective	-	Load the Robot State from file and update the Robot State in the MuJoCo simulation.
Load and Execute Joint Trajectory	Application - Basic Examples	Objective	-	Load a trajectory that was saved as a YAML file
LoadAndVisualizePointCloud	Perception - 3D Point Cloud	Objective	-	Load point cloud from file, transform it using the input pose, and send it to the UI.
LoadHeaderFromYaml	YAML Handling	Behavior	-	Loads a std::msg Header message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadHeaderVectorFromYaml	YAML Handling	Behavior	-	Loads a vector of std::msg Header messages from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadImageFromFile	Perception - 2D Image	Behavior	-	Loads an image from a file, converts it to a ROS sensor_msgs/Image message, and writes it to an output data port.
LoadJointTrajectoryFromYaml	YAML Handling	Behavior	-	Loads a joint trajectory message from a YAML file name and outputs a JointTrajectory ROS message object created from the file contents.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadObjectSubframeFromYaml	YAML Handling	Behavior	-	Loads a moveit_studio_vision_msgs::msg ObjectSubframe message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPointCloudFromFile	Perception - 3D Point Cloud	Behavior	-	Loads a point cloud from a .pcd or .stl file, converts it to a ROS sensor_msgs/PointCloud2 message, and writes it to an output data port.
LoadPointStampedFromYaml	YAML Handling	Behavior	-	Loads a PointStamped message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPointStampedVectorFromYaml	YAML Handling	Behavior	-	Loads a vector of PointStamped messages from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPoseFromYaml	YAML Handling	Behavior	-	Loads a Pose message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPoseStampedFromYaml	YAML Handling	Behavior	-	Loads a PoseStamped message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPoseStampedVectorFromYaml	YAML Handling	Behavior	-	Loads a vector of PoseStamped messages from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadPoseVectorFromYaml	YAML Handling	Behavior	-	Loads a vector of Pose messages from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadQuaternionFromYaml	YAML Handling	Behavior	-	Loads a Quaternion message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadRobotJointStateFromYaml	YAML Handling	Behavior	-	Loads a robot joint state message from a YAML file and outputs a RobotJointState ROS message object created from the file contents.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadSubframesFromYaml	YAML Handling	Behavior	-	Loads a vector of Subframes from a file, converts it and their names in the file to a vector of ROS moveit_studio_vision_msgs::msg::ObjectSubframe messages, and writes that to an output data port.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadTransformFromYaml	YAML Handling	Behavior	-	Loads a Transform message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadTransformStampedFromYaml	YAML Handling	Behavior	-	Loads a TransformStamped message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LoadVector3FromYaml	YAML Handling	Behavior	-	Loads a Vector3 message from a YAML file.If the optional package_name port is set, the YAML file path is resolved relative to that ROS package's share directory.
LogMessage	Utility	Behavior	-	Log a message to the UI.
Look at Table	Application - Basic Examples	Objective	-	Move the arm to a position that faces the table surface
ML Auto Grasp Object from Clicked Point	Application - ML (GPU Recommended)	Objective	-	Asks user to click on object to auto grasp and asks for approval before attempting pick.
ML Find Bottles on Table from Image Exemplar	Application - ML (GPU Recommended)	Objective	-	Uses the image exemplar feature of SAM3 to find and segment the square bottles on the table. Publishes masks on masks_visualization topic and exemplar with bounding box on bboxes_visualization for introspection. Combine image exemplar with text prompt to improve performance.
ML Find Objects on Table	Application - ML (GPU Recommended)	Objective	-	Uses SAM3 text prompting to find "an object" on the table and show their masks and probabilities.
ML Move Boxes to Loading Zone	Application - ML (GPU Recommended)	Objective	-	Move all of the boxes into the loading zone using ML perception.
ML Segment Bottles from File	Application - ML (GPU Recommended)	Objective	-	Loads image of lab from file and uses SAM3 to find bottles. Useful when you want to file tune or experiment is exemplars before testing in robot scene.
ML Segment Image	Application - ML (GPU Recommended)	Objective	-	Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt.
ML Segment Image Loop	Application - ML (GPU Recommended)	Objective	-	for looping the ML Segment Image objective
ML Segment Point Cloud	Application - ML (GPU Recommended)	Objective	-	Captures a point cloud and segments out all possible objects from a text prompt
ML Segment Point Cloud from Clicked Point	Application - ML (GPU Recommended)	Objective	-	Captures a point cloud and requests the user to click on three objects in the image to be segmented. The point cloud is then filtered to only include the selected objects.
MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	Application - MPC Examples	Objective	-	Example of end effector avoiding a moving point cloud that is down-sampled with spheres.
MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	Application - MPC Examples	Objective	-	Example of end effector avoiding a point cloud that is down-sampled with spheres and statically placed in the environment.
MPC Pose Tracking With Point Cloud Avoidance	Application - MPC Examples	Objective	-	Uses Model Predictive Control (MPC) to track a target pose while avoiding obstacles represented by a point cloud.
MPC Pose Tracking With Static Sphere Point Cloud Avoidance	Application - MPC Examples	Objective	-
MPCPointCloudClearance	Motion - Execute	Behavior	-	This behavior uses Model Predictive Control (MPC) to track a target pose while avoiding a point cloud real-time. The behavior optimizes two residuals simultaneous to achieve effective tracking: target pose and point cloud clearance. Target Pose: The target pose is provided through `target_pose` and `target_twist` input ports. The target pose must be in world frame. The target pose is tracked by a site defined in the MuJoCo model, e.g. `end_effector`. Point Cloud Clearance: The `point_cloud` input port supplies the point cloud to avoid, and the `link_sites` input port specifies the MuJoCo sites to monitor for proximity. The `safe_distance` input port defines the minimum allowed distance between each site and the point cloud. If a site is farther than `safe_distance` from the point cloud, the residual is zero and does not affect the optimization. As a site approaches the point cloud, the residual increases, encouraging the optimizer to maintain clearance.Optimization Problem: The optimization problem aims to minimize the following cost: l(x, u) = sum(w_i * \|\|r_i(x, u)\|\|) where w_i is a non-negative weight for each residual functions, and r_i(x, u) is the residual function. The goal of the optimization is to minimize the sum of the weighted residual norms. This site tracking behavior optimizes the following residuals: 1) Cartesian velocity, 2) Cartesian acceleration, 3) Joint velocity, 4) Joint acceleration, 5) Force/torque constraints, and 6) Site tracking errors. For further details on the residual functions, please refer to the documentation of each residual function. Tuning Tips: 1) adjust the weights of the residual functions to prioritize specific constraints and 2) as a starting point, the cost of position error should be 10x that of the velocity error, and the velocity error should be 10x that of the acceleration error.
MPCSphereClearance	Motion - Execute	Behavior	-	This behavior uses Model Predictive Control (MPC) to track a target pose while avoiding spheres represented as a collision object.Target Pose: The target pose is provided through `target_pose` and `target_twist` input ports. The target pose must be in world frame. The target pose is tracked by a site defined in the MuJoCo model, e.g. `end_effector`. Sphere Clearance: The `collision_sphere_object` input port supplies the collision object to avoid (which must be spheres and can contain at least one), and the `link_sites` input port specifies the MuJoCo sites to monitor for proximity. The `safe_distance` input port defines the minimum allowed distance between each site and the sphere(s). If a site is farther than `safe_distance` from the closest sphere, the residual is zero and does not affect the optimization. As a site approaches the sphere, the residual increases exponentially, encouraging the optimizer to maintain clearance.If the site is within the sphere, a large penalty cost is applied to strongly discourage the intersection.This optimization minimizes a cost function composed of the following residuals:1) Cartesian velocity, 2) Cartesian acceleration, 3) Site tracking errors, and 4) Sphere clearance.
Marker Visualization	Visualization	Objective	-	Get marker configuration from user and display markers in visualization.
Marker Visualization Example	Visualization	Objective	-	Wrapper Objective for Marker Visualization that exposes the base_frame parameter.
MergePointClouds	Perception - 3D Point Cloud	Behavior	-	Merges a number of input point clouds into a single one. All point clouds must be expressed in the same reference frame. The input point clouds are projected onto a voxel grid with the given resolution. Each voxel produces a point in the output cloud that is the average of all input points projected on that voxel. If align_point_clouds is true, the input clouds are incrementally aligned using the Iterative Closest Point (ICP) algorithm.
ModifyObjectInPlanningScene Deprecated	Perception - Planning Scene	Behavior	-	DEPRECATED: Use AddCollisionObject, or a shape-specific AddCollision* Behavior, instead. Add a collision object to the planning scene.
Move Along Square	Application - Basic Examples	Objective	-	Move along a square path
Move Boxes Looping	Application - ML (GPU Recommended)	Objective	-	For testing purposes
Move Boxes to Loading Zone Start from Waypoint	Application - Advanced Examples	Objective	-	Move boxes to loading zone from waypoint
Move Flasks to Burners	Application - Advanced Examples	Objective	-	Example of picking and placing objects with orientation constraints and force-controlled placement
Move to Arm Upright	Training Examples	Objective	-	Move the arm to an upright position
Move to Joint State	Motion - Execute	Objective	-	Plan and execute motion to a set of joint angles specified in a ROS message type.
Move to Look at Plane	Training Examples	Objective	-	Move the base an arm close to the plane
Move to Pose	Motion - Execute	Objective	-	Plan and execute motion to a Cartesian coordinate pose in a ROS message type, using inverse kinematics.
Move to Pose (JTC)	Motion - Execute	Objective	-	Plan and execute motion to a Cartesian coordinate pose using a standard Joint Trajectory Controller. This is a convenience wrapper around Move to Pose with execution_pipeline set to 'jtc'.
Move to Pose No Preview	Motion - Execute	Objective	-	Plan and execute motion to a Cartesian coordinate pose in a ROS message type, using inverse kinematics.
Move to Waypoint	Motion - Execute	Objective	-	Plan and execute motion to a MoveIt Pro-created named Waypoint, which is saved in joint space to the file system.
Move to Waypoint (JTC)	Motion - Execute	Objective	-	Plan and execute motion to a MoveIt Pro-created named Waypoint using a standard Joint Trajectory Controller. This is a convenience wrapper around Move to Waypoint with execution_pipeline set to 'jtc'.
Move to a StampedPose	Motion - Execute	Objective	-	Uses inverse kinematics to move the robot tip to a given pose
MoveCollisionObject	Planning Scene	Behavior	-	Updates the reference pose of an existing CollisionObject in the planning scene. All child shapes follow the new pose, so multi-shape objects move as a unit and no per-shape pose updates are required. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. Fails when no entry with the given id exists in world.collision_objects, or when an entry with that id is currently attached to the robot (robot_state.attached_collision_objects). MOVE for attached objects is not supported; the caller must detach the object first. In supplied scene mode, the input pose must be in the same frame as the existing entry; transform the pose first if it is not.
MoveGripperAction	Grasping	Behavior	-	Calls a control_msgs::action::GripperCommand action server that actuates the gripper to a target position using a position controller. The gripper controller uses the target velocity and effort values specified in the URDF. If the gripper is blocked by an obstacle or makes a successful grasp before reaching the target position, the Behavior will end successfully, but the gripper will continue to apply force indefinitely. This Behavior will fail to execute if the GripperCommand action server is not running.
Navigate to Clicked Point	Navigation	Objective	-	Navigate to a point clicked by the user in the UI
Navigate to Clicked Point with Replanning	Navigation	Objective	-	Navigate to a point clicked by the user in the UI. This Objective will repeatedly replan the path as new obstacles appear on the local costmap.
NavigateThroughPosesAction	Navigation	Behavior	-	Navigate through a given list of poses by sending a request to an action server. Given an action server advertising an action with type nav2_msgs::msg::NavigateThroughPoses, a std::vector message defining the goal poses, and the path to the behavior tree used to navigate, this Behavior composes a NavigateThroughPoses::Request message using the provided pose messages and the settings. It sends the action request to the server and waits for the server to return the action feedback and result. During the action, this Behavior copies the action feedback into an output data ports. This includes the current pose, navigation time, estimated time remaining, number of recoveries, and distance remaining. If the server completes the action successfully, this Behavior succeeds. The NavigateThroughPoses action does not return a result, so upon success, no additional data will be copied into an output data port. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The Behavior's action client fails to send the action goal to the action server. The action server does not return an action result before the specified timeout duration has elapsed. The navigation goal failed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
NavigateToPoseAction	Navigation	Behavior	-	Navigate to a given pose by sending a request to an action server. Given an action server advertising an action with type nav2_msgs::msg::NavigateToPose, a geometry_poses::msg::PoseStamped message defining the goal pose, and the path to the behavior tree used to navigate, this Behavior composes a NavigateToPose::Request message using the pose message and the settings. It sends the action request to the server and waits for the server to return the action feedback and result. During the action, this Behavior copies the action feedback into an output data ports. This includes the current pose, navigation time, estimated time remaining, number of recoveries, and distance remaining. If the server completes the action successfully, this Behavior succeeds. The NavigateToPose action does not return a result, so upon success, no additional data will be copied into an output data port. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The Behavior's action client fails to send the action goal to the action server. The action server does not return an action result before the specified timeout duration has elapsed. The navigation goal failed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
Octomap Example	Perception - 3D Point Cloud	Objective	-	Takes a snapshot of the scene camera and then updates the planning scene in RViz with an ocotomap based on the `sensors_3d.yaml` file settings.
Open Gripper	Grasping	Objective	-	Open the gripper
OverridePoseOrientation	Pose Handling	Behavior	-	Replaces the orientation of a PoseStamped with a fixed quaternion. Useful for decoupling grasp orientation from noisy detection poses (e.g. AprilTags).
Parallel	Control Flow	Control Node	-	The ParallelNode executes all its children concurrently, but not in separate threads!Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports), returns RUNNING otherwise.If any of the thresholds are reached, and other children are still running, they will be halted.
Pick All Bottles with AprilTags	AprilTag	Objective	-	Detects AprilTags on medicine bottles, picks them up, and places them in a tray. Loops until no more tags are found.
Pick All Pill Bottles	Application - ML (GPU Recommended)	Objective	-	Uses ML models to repeatedly identify and grasp plan to pick up objects.
Pick April Tag Labeled Object	Application - Advanced Examples	Objective	-	Picks up an object that has an AprilTag marker.
Pick April Tag Labeled Object With Approval	Application - Advanced Examples	Objective	-	Picks up an object that has an AprilTag marker.
Pick from Pose	Manipulation	Objective	-	Takes a grasp pose as input and picks up the object at that pose
Pick from Pose Vector	Manipulation	Objective	-	Takes a vector of yaw-equivalent grasp poses. MTC's BatchPoseIK computes IK for each, and RRT-Connect picks the one closest in joint space, avoiding wrist pirouettes for rotationally-symmetric grasps.
Pick from Pose With Approval	Manipulation	Objective	-	Takes a set of grasp poses as input and picks up the object at one of those poses. Asks for approval before executing the trajectory.
Pick object	Motion - Execute	Objective	-	Opens the gripper, defines a target pose for the object and performs a motion for picking it.
Pick up Object	Application - Basic Examples	Objective	-	Pick up an object from a manually defined location
Place Object	Manipulation	Objective	-	Place an object in the gripper at a manually specified location
Place at Pose	Manipulation	Objective	-	Takes a place pose as input and places the object at that pose
Place at Pose Vector	Manipulation	Objective	-	Takes a vector of yaw-equivalent place poses. MTC's BatchPoseIK computes IK for each, and RRT-Connect picks the one closest in joint space, avoiding wrist pirouettes when the held object is rotationally symmetric.
Place at Pose with Approval	Manipulation	Objective	-	Takes a place pose as input and places the object at that pose. Asks for approval before executing the trajectory.
Plan Move To Pose	Motion - Planning	Objective	-	Plan an MTC task, but do not execute it
Plan Path Along Surface	Training Examples	Objective	-	Plan and execute a path following a surface
Plan Path Along Surface - Loop	Training Examples	Objective	-	Plan and execute a path following a surface
Plan and Save Trajectory	Application - Basic Examples	Objective	-	Use a series of waypoints to generate a motion plan, convert the solution to a Joint Trajectory message, and save it to disk in YAML format
PlanCartesianPath	Motion - Planning	Behavior	-	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. The path to follow is given by path, which can contain waypoints in different frames. The CreatePoseStamped and AddPoseStampedToVector Behaviors can be used to create the Cartesian path. The kinematics are solved for the given tip_links of the given planning group (planning_group_name). The output joint_trajectory_msg is a timed joint-space trajectory that can be checked for self and environment collisions with the ValidateTrajectory Behavior, and executed with ExecuteFollowJointTrajectory. The Behavior succeeds if the entire path could be resolved, or fails otherwise. In any case, joint_trajectory_msg is filled in with the portion of the path that could be solved. The debug_solution output port will contain an MTCSolution message that can be used with the WaitForMTCSolutionApproval behavior for visualization. In the case multiple `tip_links` are specified, the first waypoint of the path will be used as the reference frame for all the tips, i.e. the tips will move relative to the given reference path, based on their current relative pose to that first waypoint, with tip_offset applied.
PlanMTCTask	Motion - Task Planning	Behavior	-	Solve a MoveIt Task Constructor (MTC) Task to create a Solution. Given an input std::shared_ptr which was created by the InitializeMTCTask Behavior and populated with MTC Stages by other Behaviors, attempt to find a solution that connects all the Stages in the Task into a single continuous and collision-free robot trajectory. If a Solution is found, this Behavior sets it to the output data port. It also sends a mapping from the behavior UID to the MTC task ID through the store_uid_map service, which the UI's MTC inspection panel uses to correlate this Behavior with its Solution. This mapping is debug telemetry only and does not affect motion correctness, so if the request fails a UI warning is published and planning continues. If these processes all succeed without any errors, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No Task was set to the input port. The input Task does not contain any Stages. MTC fails to initialize the Stages in the Task prior to planning the Task. MTC fails to plan the Task. An exception is thrown while planning the Task. This Behavior is derived from the AsyncBehaviorBase class defined in the moveit_pro_behavior_interface package.
PlanToJointGoal	Motion - Planning	Behavior	-	Given a joint-space goal, plan a joint-space trajectory to move to the goal.
Playback Square Trajectory	Application - Basic Examples	Objective	-	Loads and plays a JointTrajectory of the end-effector moving in a square trajectory.
Point-to-Point Trajectory	Training Examples	Objective	-	Example showing how to create and execute a point-to-point trajectory without planning motion around obstacles.
PoseJog	Motion - Execute	Behavior	-	Guarded velocity control with collision monitoring
Precondition	Control Flow	Decorator	-	This node can only have 1 child.Executes its child node only if a condition is met.If the precondition is met, the child node will be run and this node will return the status returned from the child.If the precondition is not met, this node will return the BT::NodeStatus value specified in "return_on_mismatch".
PublishBoundingBoxes2D	Perception - 2D Image	Behavior	-	Publishes an image with the provided vector of bounding boxes drawn on it for visualization. Optional labels can be provided to annotate each bounding box.
PublishEmpty	ROS Messaging	Behavior	-	Publish a std_msgs::msg::Empty message to a topic.
PublishMarkers	Visualization	Behavior	-	Publishes a set of markers to the UI for visualization. This Behavior composes a visualization_msgs::msg::MarkerArray message which contains one or more markers of the specified type. One marker will be created for each pose that is provided. The marker scale parameter will be applied uniformly to all the markers. If all inputs are valid, this Behavior will publish the visualization_msgs::msg::MarkerArray message it creates to a ROS topic named visual_markers and then finally exit with a SUCCESS status code. If an invalid marker type is provided or the marker scale vector does not contain exactly three values, exit with a FAILURE status code.
PublishMask2D	Perception - 2D Image	Behavior	-	Publishes an image with the provided vector of masks overlaid for visualization. Bounding boxes for visualization will be added if labes or detection class are provided to input ports.
PublishPointCloud	Perception - 3D Point Cloud	Behavior	-	Publishes a point cloud on a ROS topic (typically used for debugging purposes).
PublishStaticFrame Deprecated	ROS Messaging	Behavior	-	DEPRECATED: Use PublishTF instead. Despite the name, this Behavior publishes a dynamic transform on /tf at the configured rate, not a true static transform on /tf_static. The frame stops being published when the Behavior is halted. A future PublishStaticTF Behavior will cover the truly-static-transform use case.
PublishString	ROS Messaging	Behavior	-	Publish a std_msgs::msg::String message to a topic.
PublishTF	ROS Messaging	Behavior	-	Publishes a dynamic transform on /tf at the configured rate for as long as this Behavior is running. The transform stops being published when the Behavior is halted, so wrap this in a Parallel or long-lived decorator if the frame must remain available to downstream Behaviors. Use the CreatePoseStamped Behavior to create the input pose.
PublishVelocityForceCommand	Motion - Execute	Behavior	-	Publishes a velocity force command to the velocity force controller command topic at the desired rate. By default the controller interprets the twist and wrench in its configured ee_frame. Set control_frame_id to a robot-model link (e.g. the world or base link) to send references in that frame instead — useful for world-relative motion that stays fixed as the end-effector rotates. Wire the unstamped twist and wrench ports. The legacy twist_stamped and wrench_stamped ports are still accepted for backwards compatibility, but their header.frame_id is ignored — use the UnpackTwistStampedMessage and UnpackWrenchStampedMessage Behaviors to bridge from stamped sources.
Push Button	Application - Advanced Examples	Objective	-	An example for how to use the VFC to move with a velocity / force reference until it collides
Push Button With a Trajectory	Motion - Execute	Objective	-	An example for how to use the JTAC to execute a trajectory with compliance.
PushBackVector	Vector Handling	Behavior	-	Push an element to the back of a vector.
PushToSolutionQueue	Motion - Task Planning	Behavior	-	Push an MTC solution to a queue.
ReactiveFallback	Control Flow	Control Node	-	The ReactiveFallback is a fallback that re-evaluates all children. All the children are ticked from first to last:If a child returns RUNNING, continue to the next sibling.If a child returns FAILURE, continue to the next sibling.If a child returns SUCCESS, stop and return SUCCESS.If all the children fail, then this node returns FAILURE.IMPORTANT: to work properly, this node should not have more than a single asynchronous child.
ReactiveSequence	Control Flow	Control Node	-	The ReactiveSequence provides continuous reevaluation of earlier conditions. All the children are ticked from first to last:If a child returns RUNNING, halt the remaining siblings in the sequence and return RUNNING.If a child returns SUCCESS, tick the next sibling.If a child returns FAILURE, stop and return FAILURE.If all the children return SUCCESS, this node returns SUCCESS.
ReadTextFileAsString	Utility	Behavior	-	Read the contents of a text file, within your Objectives folder, into a std::string.
Record Square Trajectory	Application - Advanced Examples	Objective	-	Executes a square trajectory, records it, and saved the recording to a YAML file.
Record Teleop Trajectory	User Input	Objective	-	Call the start service to start recording the teleoperated trajectory. Upon calling the stop service, the trajectory will be saved to the file.
Record and Replay Scanning Motion	Application - Advanced Examples	Objective	-	Build a trajectory from a series of waypoints and MTC tasks to scan the environment, then save the trajectory to disk. If the trajectory is approved, it will be saved and then executed.
RecordJointTrajectory	Motion - Planning	Behavior	-	Records a JointTrajectory message being published to a topic for a given planning group. The Behavior will record joint values for a given planning group. This Behavior doesn't start recording until the start recording service is called. To stop recording, the stop recording service must be called. If the stop recording service is called before the start recording service, the Behavior will fail. It is possible to downsample the JointTrajectory based on a joint space step.
Reflect Poses Subtree	Vector Handling	Objective	-	Takes a set of poses, transforms each pose around an axis, and returns the combined set.
Register CAD Part	Perception - 3D Point Cloud	Objective	-	Load an STL from disk and use registration to align the pointcloud with a matching shape in the environment
Register CAD Part Subtree	Perception - 3D Point Cloud	Objective	-	Load an STL from disk and use registration to align the pointcloud with a matching shape in the environment. Return the pose of the object in the world frame.
RegisterPointClouds	Perception - 3D Point Cloud	Behavior	-	Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Iterative Closest Point (ICP) algorithm.
RemoveCollisionObject	Planning Scene	Behavior	-	Removes a collision object from a planning scene by id. By default the Behavior modifies the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called. Succeeds without changes (no-op) when the id is not present in world.collision_objects: the removal intent is already satisfied. Fails when object_id is empty, or when the id is currently attached to the robot. Attached objects must be detached first.
RemoveCollisionObjectFromPlanningScene Deprecated	Perception - Planning Scene	Behavior	-	DEPRECATED: Use RemoveCollisionObject instead. Removes a collision object from the planning scene.
RemoveFromVector	Vector Handling	Behavior	-	Remove an element from a vector at the given index. Negative indexes start backwards from the last element.
RemovePointsInBox	Perception - 3D Point Cloud	Behavior	-	Given a point cloud and a box-shaped region, create a new point cloud which has the points inside the box-shaped region removed. The dimensions and size of the region to remove are defined relative to its centroid.
RemoveToolFromScene Deprecated	Grasping	Behavior	-	DEPRECATED: Use DetachURDF or RemoveURDFFromScene instead. Detach a tool from the robot or remove it from the planning scene. The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.
RemoveURDFFromScene	Planning Scene	Behavior	-	Remove a URDF object from the planning scene. The URDF object with the given urdf_name will be removed from the planning scene. Once removed, the object will no longer be able to be attached to the robot until it is added to the planning scene again.
Repeat	Control Flow	Decorator	-	DEPRECATED: This decorator violates the Behavior Tree tick paradigm and will be removed in MoveIt Pro 10.0. Use `RepeatUnlessFailureEachTick` for tick-paradigm looping, or `RepeatUnlessFailureWithinTick` if you intentionally need the legacy within-tick semantics.This node can only have 1 child.Tick the child up to N times (within one of this decorator's ticks), where N is passed as an Input Port, as long as the child returns SUCCESS.Interrupt the loop if the child returns FAILURE and, in that case, return FAILURE too.If the child returns RUNNING, this node returns RUNNING too.WARNING: If the decorator is attached to something that will always be successful and repeats infinitely many times (`num_cycles` = -1), MoveIt Pro will deadlock. See our Behavior Tree Troubleshooting doc for more information.
RepeatUnlessFailureEachTick	Control Flow	Decorator	-	Tick the child up to num_cycles times, advancing one iteration per parent tick. Returns SUCCESS once the child has succeeded num_cycles times in a row, FAILURE on the first failure, and RUNNING otherwise. Set num_cycles to -1 (the default) for an infinite loop. Unlike Repeat, this decorator never spins a loop inside a single tick, so a num_cycles="-1" wrapping a synchronous always-successful child cannot deadlock the tree.
RepeatUnlessFailureWithinTick	Control Flow	Decorator	-	Equivalent to the legacy Repeat decorator, registered under an explicit name to make the within-tick loop semantics obvious. Prefer RepeatUnlessFailureEachTick unless you specifically need the entire loop to run inside a single parent tick. Tick the child up to num_cycles times within one parent tick, as long as the child returns SUCCESS. Returns FAILURE on the first failure, RUNNING if the child returns RUNNING. WARNING: With a synchronous always-successful child and num_cycles="-1", this decorator will deadlock the tree. See the Behavior Tree Troubleshooting documentation for more information.
ReplaceInVector	Vector Handling	Behavior	-	Replace an element in a vector at the given index. Negative indexes start backwards from the last element.
Request Teleoperation	User Input	Objective	-	Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective.
Reset MuJoCo Robot	MuJoCo Simulation	Objective	-	Set the joint state of the robot in the MuJoCo simulation.
Reset MuJoCo Sim	MuJoCo Simulation	Objective	-	Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model).
Reset Planning Scene	Perception - Planning Scene	Objective	-	Remove all runtime additions to the planning scene
ResetMujocoKeyframe	MuJoCo Simulation	Behavior	-	Prefer the Reset MuJoCo Sim subtree unless you are explicitly managing controllers yourself. That subtree deactivates controllers, calls this Behavior, and reactivates controllers atomically — which is what you almost always want. Resets the MuJoCo simulation to a specified keyframe state. The keyframe must be defined in the MuJoCo scene model. This Behavior will call a service to perform the reset operation. Important: This Behavior does not disable any active controllers before resetting the simulation. If controllers remain active after the reset, they may command further robot motion based on stale goals — leaving the robot in an inconsistent state. You are responsible for deactivating all active controllers before calling this Behavior directly. Service Interface: The Behavior calls a ResetMujocoKeyframe service that takes the keyframe name as a request parameter.
ResetPlanningSceneObjects	Perception - Planning Scene	Behavior	-	Removes all objects which were added to the planning scene during runtime.
ResetPoseStampedVector	Vector Handling	Behavior	-	Reset a vector containing PoseStamped messages.
ResetVector	Vector Handling	Behavior	-	Reset a vector containing BT::Any messages.
RetrieveJointStateParameter	Utility	Behavior	-	Send a request to the /retrieve_joint_state service to retrieve the joint states of the robot and set the joint_state output port to the retrieved joint states. Given the name of the joint, this behavior sends a service request to the /retrieve_joint_state service which is advertised by the MoveIt Pro Parameter Manager Node. The service type is moveit_studio_agent_msgs::srv::RetrieveJointState. The joint_state output port is of type sensor_msgs::msg::JointState. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. If no parameter is retrieved within the provided "timeout_sec" parameter. The service response is received, but its success field is set to False. Leaving the timeout_sec input empty makes this Behavior wait indefinitely to retrieve the parameter. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
RetrievePoseParameter	Pose Handling	Behavior	-	Send a request to the /retrieve_pose service to retrieve the pose of a target and set the pose output port to the retrieved stamped pose. Given a target pose, this behavior sends a service request to the /retrieve_pose service which is advertised by the MoveIt Pro Parameter Manager Node. The service type is moveit_studio_agent_msgs::srv::RetrievePose. The pose output port is of type geometry_msgs::msg::PoseStamped. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. If no pose is retrieved within the provided "timeout_sec" parameter. If there is no pose stored by the MoveIt Pro parameter manager node. The service response is received, but its success field is set to False. Leaving the timeout_sec input empty makes this Behavior wait indefinitely to retrieve the parameter. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_pro_behavior_interface package.
RetrieveWaypoint	Motion - Planning	Behavior	-	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint.
RetryUntilSuccessful	Control Flow	Decorator	-	DEPRECATED: This decorator violates the Behavior Tree tick paradigm and will be removed in MoveIt Pro 10.0. It is equivalent to wrapping `RepeatUnlessFailureEachTick` in an `Inverter`.This node can only have 1 child.Tick the child up to N times, where N is passed as Input Port `num_attempts`, as long as the child returns FAILURE.Return FAILURE after the N attempts in the case that the child always returned FAILURE.Interrupt the loop if the child returns SUCCESS and, in that case, return SUCCESS too.If the child returns RUNNING, this node returns RUNNING too and the attempts will continue without incrementing on the next tick of the RetryUntilSuccessful node.WARNING: If the decorator is attached to something that will always be failure and repeats infinitely many times (`num_attempts` = -1), MoveIt Pro will deadlock. See our Behavior Tree Troubleshooting doc for more information.
ReversePoseStampedVector	Vector Handling	Behavior	-	Reverses the order of a `PoseStamped` vector and stores the reversed sequence to the blackboard.
ReverseVector	Vector Handling	Behavior	-	Reverses the order of a vector containing BT::Any data into a new output vector.
RotateTwistToFrame	Pose Handling	Behavior	-	Rotates a TwistStamped into the target frame's orientation. Both the linear and angular components are rotated; any translation between the source and target frames is ignored, so this Behavior does not add the ω×r reference-point shift that a full rigid-body twist transform would. The latest available transform is used; the input twist's header.stamp is ignored, since twists are typically control signals rather than measurements. Returns FAILURE when the required TF cannot be obtained at lookup time (with the source / target frame names in the error message), or when required ports are missing.
Save Robot Joint State	MuJoCo Simulation	Objective	-
SaveCurrentState	Perception - Planning Scene	Behavior	-	Use the /get_planning_scene service to save the robot's current state.
SaveHeaderToYaml	YAML Handling	Behavior	-	Write a Header message given as a `std_msgs::msg::Header` message to a YAML file.
SaveImageToFile	Perception - 2D Image	Behavior	-	Save the contents of an image on the blackboard to a file. Filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
SaveJointTrajectoryToYaml	YAML Handling	Behavior	-	Accepts a JointTrajectory ROS message object, a namespace, and a file name. Converts and saves the joint trajectory message as a YAML file in the objectives directory at the provided file name and under the provided namespace within the file.
SaveMTCTaskInspection	Motion - Task Planning	Behavior	-	Saves all MTC introspection data (stage tree, statistics, all solutions and failures, interface states, and per-stage failure explanations) for a given moveit_pro::task_constructor::Task to a JSON file on disk. Intended for offline triage of planning failures. The output_directory port accepts an absolute path, a path relative to the first configured objectives library directory, or a path beginning with ~/$HOME. The file name is always generated as _.json from the task's internal id; the trailing 3 digits are milliseconds-within-second so rapid back-to-back invocations do not overwrite each other. The absolute path written is returned on the generated_file output port. Common patterns: wrap PlanMTCTask in a Fallback with this Behavior as the second child to dump only failed plans; or place it between Plan and Execute to dump every plan.
SavePointCloudToFile	Perception - 3D Point Cloud	Behavior	-	Save the contents of a point cloud on the blackboard to a pcd file using the pcl::PointXYZRGB point type. Filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
SavePointStampedToYaml	YAML Handling	Behavior	-	Write a point stamped given as a `geometry_msgs::msg::PoseStamped` message to a YAML file.
SavePoseForUrdf	Utility	Behavior	-	Saves a PoseStamped in xyz rpy URDF format to file.
SavePoseStampedToYaml	YAML Handling	Behavior	-	Write a pose given as a `geometry_msgs::msg::PoseStamped` message to a YAML file.
SavePoseToYaml	YAML Handling	Behavior	-	Write a pose given as a `geometry_msgs::msg::Pose` message to a YAML file.
SaveQuaternionToYaml	YAML Handling	Behavior	-	Write a Quaternion given as a `geometry_msgs::msg::Quaternion` message to a YAML file.
SaveRobotJointStateToYaml	YAML Handling	Behavior	-	Accepts a RobotJointState ROS message object, a namespace, and a file name. Converts and saves the robot joint state message as a YAML file in the objectives directory at the provided file name and under the provided namespace within the file.
SaveTransformStampedToYaml	YAML Handling	Behavior	-	Write a Transform given as a `geometry_msgs::msg::TransformStamped` message to a YAML file.
SaveTransformToYaml	YAML Handling	Behavior	-	Write a Transform given as a `geometry_msgs::msg::Transform` message to a YAML file.
SaveVector3ToYaml	YAML Handling	Behavior	-	Write a Vector3 given as a `geometry_msgs::msg::Vector3` message to a YAML file.
Scan Scene - Multiple Point Clouds	Perception - 3D Point Cloud	Objective	-	Take multiple snapshots from the wrist camera at 3 positions (center, left, right) using Cartesian offsets and merge them into a single point cloud.
Script	Control Flow	Behavior	-	Introduced in BT.CPP 4 to integrate scripting language within XMLAllows users to read from and write to variables in the blackboardCan perform operation like assignment, comparison, etc.
Segment Bottle Subtree	Perception - ML	Objective	-	Segment a bottle with SAM3 and output the masked point cloud in world frame.
Segment Image from No Negative Text Prompt Subtree	Perception - ML	Objective	-	Run text based segmentation and visualize the masks.
Segment Image from Point	Perception - ML	Objective	-	Captures an image and segments it using the user provided prompt points.
Segment Image from Point Subtree	Perception - ML	Objective	-	Captures an image and segments it using three user provided prompt points.
Segment Image from Text Prompt	Perception - ML	Objective	-	Run text based segmentation and visualize the masks.
Segment Image from Text Prompt Subtree	Perception - ML	Objective	-	Run text based segmentation and visualize the masks.
Segment Point Cloud from Clicked Point	Perception - ML	Objective	-	Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object.
Segment Point Cloud from Clicked Point Subtree	Perception - ML	Objective	-	Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object.
Segment Point Cloud from Text Prompt Subtree	Perception - ML	Objective	-	Captures a point cloud and runs text-based segmentation on the camera image using the given text prompts. The point cloud is then filtered to only include the regions matching the prompts.
SendPointCloudToUI	Perception - 3D Point Cloud	Behavior	-	Given a point cloud, transform it to the given frame, convert it to Binary Compressed PCD format, and publish it on a topic for the UI to visualize.
Sequence	Control Flow	Control Node	-	The SequenceNode is used to tick children in an ordered sequence. If any child returns RUNNING, previous children are not ticked again.If all the children return SUCCESS, this node returns SUCCESS.If a child returns RUNNING, this node returns RUNNING. Loop is NOT restarted, the same running child will be ticked again.If a child returns FAILURE, stop the loop and return FAILURE. Restart the loop only if (reset_on_failure == true)
SequenceStar	Control Flow	Control Node	-	The SequenceStarNode is a deprecated variant of sequence. If any child returns RUNNING, previous children are not ticked again.If all the children return SUCCESS, this node returns SUCCESS.If a child returns RUNNING, this node returns RUNNING. Loop is NOT restarted, the same running child will be ticked again.If a child returns FAILURE, stop the loop and return FAILURE. Loop is NOT restarted, the same running child will be ticked again.
SetAdmittanceParameters	Motion - Planning	Behavior	-	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior. A set of parameters will be loaded from a YAML file and displayed in the UI for the user to modify. Any modifications will be stored back to the YAML file. If the given YAML file doesn't exist, a default set of parameters will be created. The parameters will be returned in an output port as an 'AdmittanceParameters' message, which can be used as input to the 'ExecuteTrajectoryWithAdmittance' Behavior (JTAC controller). Deprecated: Alternatively, this behavior can be used to set admittance parameters for a ros2_control admittance controller. In this case, 'controller_name' in the UI needs to be set to the controller to update. Parameters will be set via the parameter server and no output message will be created. This mode of operation is deprecated and only kept for compatibility with older setups that use the ros2_control admittance controller.
SetBlackboard	Utility	Behavior	-	Write a value into the behavior tree blackboard.
SetCollisionRule	Planning Scene	Behavior	-	Allows or forbids collisions between two entities in the planning scene's Allowed Collision Matrix, without an MTC task. Each of name_a and name_b is resolved against planning groups, collision object ids, and robot links. A planning group expands to its links that carry collision geometry. The Behavior fails if a name is ambiguous (matches more than one category) or matches nothing. By default the Behavior reads and updates the live planning scene via service calls. Wire the planning_scene port to operate on a supplied planning scene instead; the modified scene is written back to the same port and no services are called.
SetMujocoState	Simulation - MuJoCo	Behavior	-	Sets the MuJoCo simulation joint positions from a RobotJointState input port. Use CreateJointState to create the input. This behavior does NOT manage controllers - use ListControllers and SwitchController to save/restore controller states if needed.
SetRos2Parameter	Configuration	Behavior	-	Set any ROS2 parameter on any node at runtime via the standard set_parameters service. Given a target node name and a parameter name, value, and type, this Behavior constructs a rcl_interfaces::srv::SetParameters request and sends it to the /set_parameters service. Supported parameter types: bool, int, double, string, bool_array, int_array, double_array, string_array. For array types, provide comma-separated values (e.g. "0.1,0.2,0.3" for double_array). Example: To change Nav2 costmap robot_radius, set node_name to /local_costmap/local_costmap, parameter_name to robot_radius, parameter_value to 0.3, and parameter_type to double.
SetupMTCAddCollisionBox	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene when the MTC task is planned. MTC equivalent of AddCollisionBox. The stage does not modify the live planning scene until the MTC task is executed. By default planning fails if an object with the same id already exists in the planned scene. Set overwrite to true to replace it instead.
SetupMTCAddCollisionCylinder	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that adds a cylinder-shaped collision object to the planning scene when the MTC task is planned. MTC equivalent of AddCollisionCylinder. The stage does not modify the live planning scene until the MTC task is executed. By default planning fails if an object with the same id already exists in the planned scene. Set overwrite to true to replace it instead.
SetupMTCAddCollisionMesh	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that adds a mesh-shaped collision object to the planning scene when the MTC task is planned. MTC equivalent of AddCollisionMesh. The stage does not modify the live planning scene until the MTC task is executed. By default planning fails if an object with the same id already exists in the planned scene. Set overwrite to true to replace it instead.
SetupMTCAddCollisionSphere	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that adds a sphere-shaped collision object to the planning scene when the MTC task is planned. MTC equivalent of AddCollisionSphere. The stage does not modify the live planning scene until the MTC task is executed. By default planning fails if an object with the same id already exists in the planned scene. Set overwrite to true to replace it instead.
SetupMTCApproachGrasp Deprecated	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object.This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.The stage names are: 'Allow collision (object, everything-but-the-robot)', 'Move to Pre-Approach Pose', 'allow collision 1 (hand,octomap)', 'Approach', and 'allow collision 2 (hand,octomap)'.
SetupMTCAttachObject Deprecated	Motion - Task Planning	Behavior	-	DEPRECATED: Use SetupMTCAttachObjectByID instead. Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage, named 'attach object () to frame ()' to attach a GraspableObject which was previously added to the planning scene. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCAttachObjectByID	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that attaches the object to a robot link when the MTC task is planned. MTC equivalent of AttachObject. Takes a plain object id. By default the object keeps its current pose relative to the link. Wire relative_transform (the object origin frame expressed in the link frame) to attach it at a fixed pose instead. The object must be a world collision object in the scene when the task is planned, or planning fails; an object that is already attached is not re-posed. If allowed_collision_links is non-empty, the same stage also writes ACM entries allowing collisions between the attached object and each listed link (useful for gripper fingers that touch the object).
SetupMTCBatchPoseIK	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a vector of poses, appends an MTC stage, named 'pose IK', to compute IK solutions for those poses.
SetupMTCCartesianMoveToJointState	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a joint state, appends MTC stage, named 'cartesian plan', to describe a cartesian motion plan to that joint state.
SetupMTCCartesianSequence	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses. The stage names are: 'move to pose ', 'generate pose ', and 'pose IK '.
SetupMTCConnectWithProRRT	Motion - Task Planning	Behavior	-	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner.
SetupMTCCurrentState	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task, named 'current state'.
SetupMTCDetachObject Deprecated	Motion - Task Planning	Behavior	-	DEPRECATED: Use SetupMTCDetachObjectByID instead. Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage, named 'detach object () from frame ()', to detach a GraspableObject which was previously attached to a robot frame. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCDetachObjectByID	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that detaches the object from a robot link when the MTC task is planned. MTC equivalent of DetachObject. Takes a plain object id. link_name is required because MTC stages are constructed before the task runs, so the runtime scene cannot be queried to find the current parent link.
SetupMTCFixedJointState	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC FixedJointState Stage to the Task, named 'fixed state'. Creates an MTC FixedState stage representing an expected future robot and planning scene state, and appends the stage to an MTC Task. The expected planning scene and robot states are provided through input data ports. This allows planning trajectories that do not start at the robot's current state. It is important to move the robot to the joint state used to create the FixedState stage before executing a trajectory that starts at that joint state.
SetupMTCFromSolution	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC Stage, named 'Initial state', to the Task that initializes it with the final planning scene of a given solution.
SetupMTCGenerateCuboidGrasps Deprecated	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a target object, appends MTC stages, named 'generate pose' and, 'pose IK', to generate cuboid grasp poses.
SetupMTCGenerateVacuumGrasps Deprecated	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a target object, appends MTC stages, named 'generate pose' and, 'pose IK', to generate vacuum grasp poses.
SetupMTCIgnoreCollisionsBetweenObjects Deprecated	Motion - Task Planning	Behavior	-	DEPRECATED: Use SetupMTCSetCollisionRule instead. Add an MTC Stage, named ' collision (group of objects)', to an MTC Task that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCInterpolateToJointState	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a joint state, appends MTC stages, named 'Interpolate to a joint state', to describe a joint-interpolated motion plan to that joint state.
SetupMTCMoveAlongFrameAxis	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, append a MTC MoveRelative stage, named 'Cartesian Motion', to perform a cartesian motion along an axis.
SetupMTCMultiEEFMoveAlongAxis	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends MTC Stages, named 'move ', that execute cartesian motion on multiple end-effectors. Each end-effector will move in a cartesian motion along an axis defined in the given IK frame. The direction of motion is defined by the normalized vector formed by the axis_x, axis_y, and axis_z vector elements (E.g. axis_x={1.0;0.0} axis_y={0.0;0.0} and axis_z={0.0;1.0} will move the first link in the ik_frames vector along its X axis, and the second link in the ik_frames vector along its Z axis. All input vectors must be the same size!
SetupMTCPathIK	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, append a MTC Path IK stage, named 'Path IK', to perform a cartesian motion along a path.
SetupMTCPlanToJointState	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a target pose, appends an MTC Stage, named 'plan to joint state pro rrt' to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner.
SetupMTCPlanToPose	Motion - Task Planning	Behavior	-	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect planner.
SetupMTCRemoveCollisionObject	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that removes a collision object from the planning scene when the MTC task is planned. MTC equivalent of RemoveCollisionObject. The stage does not modify the live planning scene until the MTC task is executed. Removing an id that is currently attached to the robot fails planning; detach it first. Removing an id that is not present is a no-op.
SetupMTCSetCollisionRule	Motion - Task Planning	Behavior	-	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities in the Allowed Collision Matrix when the MTC task is planned. MTC equivalent of SetCollisionRule. One uniform interface for collision rules between planning groups, collision objects, and robot links. Each name is resolved when the task is planned, against the planning scene the planner has built at this stage, as a planning group, a collision object id, or a robot link. A planning group expands to its links with collision geometry. Ambiguous names and names that match nothing fail planning with a descriptive error.
SetupMTCUpdateGroupCollisionRule Deprecated	Motion - Task Planning	Behavior	-	DEPRECATED: Use SetupMTCSetCollisionRule instead. Add an MTC Stage, named ' collision (, group_name)', to an MTC Task that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCUpdateObjectCollisionRule Deprecated	Motion - Task Planning	Behavior	-	DEPRECATED: Use SetupMTCSetCollisionRule instead. Add an MTC Stage, named ' collision (, )', to an MTC Task that makes following stages either allow or prohibit collision between a GraspableObject and another entity. The other entity can be either a named collision object in the planning scene or the links of a named robot planning group. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
Solution - Draw Picknik	Training Examples	Objective	-	Training example that shows how to load a Cartesian path from a file and execute the path
Solution - Draw Square	Training Examples	Objective	-	Training example that shows how to create a path from poses and execute the path
Solution - Find and Spray Plane	Training Examples	Objective	-	Finds the plane then generates and executes a coverage path
Solution - Generate coverage path	Training Examples	Objective	-
Solution - Move Forward 2m	Training Examples	Objective	-
Solution - Spray Plane	Training Examples	Objective	-
SolveIKQueries	Motion - Planning	Behavior	-	Calculate whether or not the robot's end effector can reach a list of target poses. The robot's current joint state is used as the initial random seed for determining target reachability. The target poses can be defined in any frame, as long as a transform exists between the specified frame and the robot's base frame.
SplitMTCSolution	Motion - Task Planning	Behavior	-	Split an MTC Solution message in two by dividing its vector of subtrajectories at the specified index.
Stationary Admittance	Application - Advanced Examples	Objective	-	Puts the arm into Cartesian admittance mode
Stitch Multiple Point Clouds Together	Application - Basic Examples	Objective	-	Multi-view inspection routine: Captures images and point clouds from multiple viewpoints for 3D reconstruction or quality inspection
StopwatchBegin	Utility	Behavior	-	Saves the current epoch time as a timepoint to an output data port.
StopwatchEnd	Utility	Behavior	-	Log the time elapsed since a timepoint provided on an input data port. Optionally log a message.
StringToInt	String Handling	Behavior	-	Convert a String to an Int
SwitchController	Motion - Controls	Behavior	-	This Behavior switches controllers in a ros2_control controller manager. Given a list of controllers to activate/deactivate, a service request is dispatched to switch the active ros2_control controllers accordingly. If automatic_deactivation is set to true, the Behavior will automatically deactivate controllers that are in conflict with the ones to activate.
SwitchUIPrimaryView	User Input	Behavior	-	Switches the primary view in the MoveIt Pro Developer Tool. This can be "Visualization", "Behavior Tree", or the name of any valid camera topic available in the view dropdown menu in the UI. This is a fire-and-forget operation - the behavior publishes the requested view and returns SUCCESS immediately. The UI will update when it receives the message. Note: The behavior will return SUCCESS regardless of whether the UI can successfully switch to the requested view. If validation of the view name is required, it should be performed at a different layer.
Take Scene Camera Snapshot	Application - Basic Examples	Objective	-	Capture a point cloud snapshot of the scene camera and send it to the UI
Take Wrist Camera Image	Perception - 2D Image	Objective	-	Loads wrist camera parameters and records color image.
Take Wrist Camera Snapshot	Application - Basic Examples	Objective	-	Capture a point cloud snapshot of the wrist camera and send it to the UI
Teleoperate	User Input	Objective	-	Handles the different variations of teleoperation from the web UI. Can be used standalone.
Timeout	Utility	Decorator	-	Halt the child node after a given timeout. If the child returns SUCCESS or FAILURE before the timeout, the decorator returns that result.
Track Moving Frame	Motion - Execute	Objective	-	Moves a given end-effector link to track a moving frame, e.g. to control the robot arm with a teleoperation device.
TransformPointCloud	Perception - 3D Point Cloud	Behavior	-	Transforms a point cloud given an input pose in the same frame as the point cloud. The frame IDs of the input point cloud and transform pose must match, or this Behavior will fail. The output point cloud will similarly be with respect to this frame.
TransformPointCloudFrame	Perception - 3D Point Cloud	Behavior	-	Transforms a point cloud to a target coordinate frame.
TransformPose	Pose Handling	Behavior	-	Transforms a stamped pose given an input translation and orientation. Optionally visualizes the resulting pose as a coordinate-frame marker.
TransformPoseFrame	Pose Handling	Behavior	-	Transforms a stamped pose into a different frame ID.
TransformPoseWithPose	Pose Handling	Behavior	-	Transforms a stamped pose with a transform defined by another pose in the same frame.
TrimPointcloudSurface	Point Cloud	Behavior	-	Trim a point cloud to retain only points within a quadrilateral boundary defined by 4 waypoints. Uses plane fitting via SVD and 2D point-in-polygon checking to filter the cloud.
UnpackAccelMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Accel message.
UnpackAccelStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::AccelStamped message.
UnpackAccelWithCovarianceMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::AccelWithCovariance message.
UnpackAccelWithCovarianceStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::AccelWithCovarianceStamped message.
UnpackAdmittanceParametersMessage	Conversions	Behavior	-	Unpack behavior for a moveit_pro_controllers_msgs::msg::AdmittanceParameters message.
UnpackAgentInfoMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::AgentInfo message.
UnpackAllowedCollisionEntryMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::AllowedCollisionEntry message.
UnpackAllowedCollisionMatrixMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::AllowedCollisionMatrix message.
UnpackAttachedCollisionObjectMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::AttachedCollisionObject message.
UnpackBatteryStateMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::BatteryState message.
UnpackBehaviorParameterDescriptionMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameterDescription message.
UnpackBehaviorParameterMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameter message.
UnpackBehaviorTreeStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::BehaviorTreeStatus message.
UnpackBoolMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Bool message.
UnpackBoundingVolumeMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::BoundingVolume message.
UnpackBreakpointStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::BreakpointStatus message.
UnpackByteMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Byte message.
UnpackByteMultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::ByteMultiArray message.
UnpackCameraInfoMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::CameraInfo message.
UnpackCartesianPointMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::CartesianPoint message.
UnpackCartesianSelectionVectorMessage	Conversions	Behavior	-	Unpack behavior for a moveit_pro_controllers_msgs::msg::CartesianSelectionVector message.
UnpackCartesianTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::CartesianTrajectory message.
UnpackCartesianTrajectoryPointMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::CartesianTrajectoryPoint message.
UnpackChannelFloat32Message	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::ChannelFloat32 message.
UnpackCharMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Char message.
UnpackClientInfoMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::ClientInfo message.
UnpackCollisionObjectMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::CollisionObject message.
UnpackColorRGBAMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::ColorRGBA message.
UnpackCompressedImageMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::CompressedImage message.
UnpackConstraintEvalResultMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::ConstraintEvalResult message.
UnpackConstraintsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::Constraints message.
UnpackContactInformationMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::ContactInformation message.
UnpackCostSourceMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::CostSource message.
UnpackDisplayRobotStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::DisplayRobotState message.
UnpackDisplayTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::DisplayTrajectory message.
UnpackDurationMessage	Conversions	Behavior	-	Unpack behavior for a builtin_interfaces::msg::Duration message.
UnpackEmptyMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Empty message.
UnpackEndEffectorMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::EndEffector message.
UnpackEventMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::Event message.
UnpackFaultStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::FaultStatus message.
UnpackFloat32Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Float32 message.
UnpackFloat32MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Float32MultiArray message.
UnpackFloat64Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Float64 message.
UnpackFloat64MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Float64MultiArray message.
UnpackFluidPressureMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::FluidPressure message.
UnpackGenericTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::GenericTrajectory message.
UnpackGraspInfoMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspInfo message.
UnpackGraspMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::Grasp message.
UnpackGraspableFaceMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspableFace message.
UnpackGraspableObjectMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspableObject message.
UnpackGripperTranslationMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::GripperTranslation message.
UnpackHeaderMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Header message.
UnpackIlluminanceMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Illuminance message.
UnpackImageMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Image message.
UnpackImuMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Imu message.
UnpackInertiaMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Inertia message.
UnpackInertiaStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::InertiaStamped message.
UnpackInt16Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int16 message.
UnpackInt16MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int16MultiArray message.
UnpackInt32Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int32 message.
UnpackInt32MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int32MultiArray message.
UnpackInt64Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int64 message.
UnpackInt64MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int64MultiArray message.
UnpackInt8Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int8 message.
UnpackInt8MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::Int8MultiArray message.
UnpackJointConstraintMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::JointConstraint message.
UnpackJointLimitsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::JointLimits message.
UnpackJointStateMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::JointState message.
UnpackJointTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a trajectory_msgs::msg::JointTrajectory message.
UnpackJointTrajectoryPointMessage	Conversions	Behavior	-	Unpack behavior for a trajectory_msgs::msg::JointTrajectoryPoint message.
UnpackJointVelocityControllerStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_pro_controllers_msgs::msg::JointVelocityControllerState message.
UnpackJoyFeedbackArrayMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::JoyFeedbackArray message.
UnpackJoyFeedbackMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::JoyFeedback message.
UnpackJoyMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Joy message.
UnpackJsonMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::Json message.
UnpackKinematicSolverInfoMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::KinematicSolverInfo message.
UnpackLaserEchoMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::LaserEcho message.
UnpackLaserScanMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::LaserScan message.
UnpackLicenseInfoMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::LicenseInfo message.
UnpackLinkPaddingMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::LinkPadding message.
UnpackLinkScaleMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::LinkScale message.
UnpackLogMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::Log message.
UnpackMagneticFieldMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::MagneticField message.
UnpackMask2DMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::Mask2D message.
UnpackMask3DMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::Mask3D message.
UnpackMotionPlanDetailedResponseMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionPlanDetailedResponse message.
UnpackMotionPlanRequestMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionPlanRequest message.
UnpackMotionPlanResponseMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionPlanResponse message.
UnpackMotionSequenceItemMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionSequenceItem message.
UnpackMotionSequenceRequestMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionSequenceRequest message.
UnpackMotionSequenceResponseMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MotionSequenceResponse message.
UnpackMoveItErrorCodesMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::MoveItErrorCodes message.
UnpackMtcTaskDataMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_internal_msgs::msg::MtcTaskData message.
UnpackMultiArrayDimensionMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::MultiArrayDimension message.
UnpackMultiArrayLayoutMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::MultiArrayLayout message.
UnpackMultiDOFJointStateMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::MultiDOFJointState message.
UnpackMultiDOFJointTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a trajectory_msgs::msg::MultiDOFJointTrajectory message.
UnpackMultiDOFJointTrajectoryPointMessage	Conversions	Behavior	-	Unpack behavior for a trajectory_msgs::msg::MultiDOFJointTrajectoryPoint message.
UnpackMultiEchoLaserScanMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::MultiEchoLaserScan message.
UnpackNavSatFixMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::NavSatFix message.
UnpackNavSatStatusMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::NavSatStatus message.
UnpackObjectColorMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::ObjectColor message.
UnpackObjectDetectionArrayMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectDetectionArray message.
UnpackObjectDetectionMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectDetection message.
UnpackObjectSubframeMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectSubframe message.
UnpackObjectiveServerStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::ObjectiveServerStatus message.
UnpackOrientationConstraintMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::OrientationConstraint message.
UnpackOrientedBoundingBoxMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::OrientedBoundingBox message.
UnpackPipelineStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PipelineState message.
UnpackPlaceLocationMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlaceLocation message.
UnpackPlannerInterfaceDescriptionMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlannerInterfaceDescription message.
UnpackPlannerParamsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlannerParams message.
UnpackPlanningGroupMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::PlanningGroup message.
UnpackPlanningOptionsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlanningOptions message.
UnpackPlanningSceneComponentsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlanningSceneComponents message.
UnpackPlanningSceneMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlanningScene message.
UnpackPlanningSceneWithoutOctomapMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_internal_msgs::msg::PlanningSceneWithoutOctomap message.
UnpackPlanningSceneWorldMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PlanningSceneWorld message.
UnpackPoint32Message	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Point32 message.
UnpackPointCloud2Message	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::PointCloud2 message.
UnpackPointCloudMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::PointCloud message.
UnpackPointCloudPCDMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_vision_msgs::msg::PointCloudPCD message.
UnpackPointFieldMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::PointField message.
UnpackPointMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Point message.
UnpackPointStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PointStamped message.
UnpackPolygonInstanceMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PolygonInstance message.
UnpackPolygonInstanceStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PolygonInstanceStamped message.
UnpackPolygonMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Polygon message.
UnpackPolygonStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PolygonStamped message.
UnpackPose2DMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Pose2D message.
UnpackPoseArrayMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PoseArray message.
UnpackPoseMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Pose message.
UnpackPoseStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PoseStamped message.
UnpackPoseWithCovarianceMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PoseWithCovariance message.
UnpackPoseWithCovarianceStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::PoseWithCovarianceStamped message.
UnpackPositionConstraintMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PositionConstraint message.
UnpackPositionIKRequestMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::PositionIKRequest message.
UnpackQuaternionMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Quaternion message.
UnpackQuaternionStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::QuaternionStamped message.
UnpackRangeMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Range message.
UnpackRegionOfInterestMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::RegionOfInterest message.
UnpackRelativeHumidityMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::RelativeHumidity message.
UnpackRequestStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_sdk_msgs::msg::RequestStatus message.
UnpackRobotJointStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::RobotJointState message.
UnpackRobotStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::RobotState message.
UnpackRobotTrajectoryMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::RobotTrajectory message.
UnpackServoStatusMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::ServoStatus message.
UnpackStringMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::String message.
UnpackTF2ErrorMessage	Conversions	Behavior	-	Unpack behavior for a tf2_msgs::msg::TF2Error message.
UnpackTFMessageMessage	Conversions	Behavior	-	Unpack behavior for a tf2_msgs::msg::TFMessage message.
UnpackTeleoperationModeMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_sdk_msgs::msg::TeleoperationMode message.
UnpackTemperatureMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::Temperature message.
UnpackTimeMessage	Conversions	Behavior	-	Unpack behavior for a builtin_interfaces::msg::Time message.
UnpackTimeReferenceMessage	Conversions	Behavior	-	Unpack behavior for a sensor_msgs::msg::TimeReference message.
UnpackTrajectoryConstraintsMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::TrajectoryConstraints message.
UnpackTransformMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Transform message.
UnpackTransformStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::TransformStamped message.
UnpackTwistMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Twist message.
UnpackTwistStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::TwistStamped message.
UnpackTwistWithCovarianceMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::TwistWithCovariance message.
UnpackTwistWithCovarianceStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::TwistWithCovarianceStamped message.
UnpackUInt16Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt16 message.
UnpackUInt16MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt16MultiArray message.
UnpackUInt32Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt32 message.
UnpackUInt32MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt32MultiArray message.
UnpackUInt64Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt64 message.
UnpackUInt64MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt64MultiArray message.
UnpackUInt8Message	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt8 message.
UnpackUInt8MultiArrayMessage	Conversions	Behavior	-	Unpack behavior for a std_msgs::msg::UInt8MultiArray message.
UnpackVector3Message	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Vector3 message.
UnpackVector3StampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Vector3Stamped message.
UnpackVelocityForceCommandMessage	Conversions	Behavior	-	Unpack behavior for a moveit_pro_controllers_msgs::msg::VelocityForceCommand message.
UnpackVelocityForceControllerStateMessage	Conversions	Behavior	-	Unpack behavior for a moveit_pro_controllers_msgs::msg::VelocityForceControllerState message.
UnpackVelocityStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::VelocityStamped message.
UnpackVisibilityConstraintMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::VisibilityConstraint message.
UnpackWaypointMessage	Conversions	Behavior	-	Unpack behavior for a moveit_studio_agent_msgs::msg::Waypoint message.
UnpackWorkspaceParametersMessage	Conversions	Behavior	-	Unpack behavior for a moveit_msgs::msg::WorkspaceParameters message.
UnpackWrenchMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::Wrench message.
UnpackWrenchStampedMessage	Conversions	Behavior	-	Unpack behavior for a geometry_msgs::msg::WrenchStamped message.
UpdatePlanningSceneService	Perception - 3D Point Cloud	Behavior	-	Updates the planning scene's collision octree using the provided point cloud, and waits until the octree has finished updating.
ValidateTrajectory	Motion - Planning	Behavior	-	Checks if a joint trajectory is valid, given a model of the scene. This Behavior checks that `joint_trajectory_msg` is collision-free at a given density (`joint_space_step` and `cartesian_space_step`). The model of the scene is constructed from the contents of `planning_scene_msg`. Use the `GetCurrentPlanningScene` Behavior to obtain the current scene model around the robot. The Behavior succeeds if the trajectory is valid on the given scene, or fails otherwise. In any case, the `debug_solution` output port will contain an MTCSolution message that can be used with the `WaitForMTCSolutionApproval` Behavior for visualization.
Vector Subtrees Example	Vector Handling	Objective	-	Demonstrates CreateVector, PushBackVector, and Find Nearest Pose in Path subtree Objectives. Requires ConverterBehaviorsLoader.
Vector and String Example	Vector Handling	Objective	-	Showcases creating, inserting, replacing, and removing strings from a vector, as well as reading strings from file and publishing them to ROS.
Visualize Grasp Link	Application - Advanced Examples	Objective	-
Visualize Segmented Point Cloud	Perception - ML	Objective	-	Publish segmented point cloud to the UI.
Visualize TF	Visualization	Objective	-	Visualize a TF frame.
VisualizeCameraFrustum	Visualization	Behavior	-	Visualizes a camera frustum by publishing LINE_LIST markers showing the near plane, far plane, and connecting edges. The camera pose uses the optical frame convention: Z forward (viewing direction), X right, Y down.
VisualizeLine	Visualization	Behavior	-	Visualizes a line between two poses, given as PoseStamped messages.
VisualizeMesh	Visualization	Behavior	-	Publishes a marker that contains a mesh path to the UI for visualization. This Behavior composes a visualization_msgs::msg::Marker message which contains the path to the mesh to visualize. If all inputs are valid, this Behavior will publish the visualization_msgs::msg::Marker message it creates to a ROS topic named moveit_pro/mesh_publisher and then finally exit with a SUCCESS status code. Note: To view the marker in RViz, the mesh_path must be prepended with and relative to package://package_name/.
VisualizePath	Visualization	Behavior	-	Visualizes a path, given as a vector of stamped poses. Optionally customize the line color and width.
VisualizePose	Visualization	Behavior	-	Visualizes a pose, given as a PoseStamped message.
Wait for Trajectory Approval if User Available	User Input	Objective	-	Preview a shared pointer to an MTC Solution object via an input data port if a user is available.
WaitAndPopSolutionQueue	Motion - Task Planning	Behavior	-	Wait for an MTC solution queue to contain values, pop queue and write the next solution to output port.
WaitForDuration	Utility	Behavior	-	Wait for a specified duration before succeeding.
WaitForMTCSolutionApproval	User Input	Behavior	-	Takes an MTC Solution message via an input data port and publishes it on the "/preview_solution" topic for the UI to display. Creates a SetBool service server on the "/execute_behavior_solution" topic and waits to receive a request containing data: true before succeeding, or data: false to abort. Visualizes the cartesian path for each valid input link name with a green line while waiting. Important: This Behavior creates a SetBool service server on the "/execute_behavior_solution" topic. Only one Behavior (of any class) that claims this service name can be instantiated per Objective; multiple instances will cause service-server conflicts. This interface will need to change to resolve the conflict robustly.
WaitForUserPathApproval	Navigation	Behavior	-	Visualizes a nav_msgs::msg::Path in the UI to be approved or rejected.
WaitForUserTrajectoryApproval Deprecated	User Input	Behavior	-	DEPRECATED: Use WaitForMTCSolutionApproval instead. Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on the "/preview_solution" topic. Creates a SetBool service server on the "/execute_behavior_solution" topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting.
WhichObjectIsAttached	Perception - Planning Scene	Behavior	-	Checks a PlanningScene to determine if an object is attached from a given vector of object names.
WhileDoElse	Control Flow	Control Node	-	WhileDoElse must have exactly 2 or 3 children. It is a REACTIVE node of IfThenElseNode.The first child is the "statement" that is executed at each tickIf result is SUCCESS, the second child is executed.If result is FAILURE, the third child is executed.If the 2nd or 3d child is RUNNING and the statement changes, the RUNNING child will be stopped before starting the sibling.

Behaviors Hub

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