moveit_task_constructor/capabilities/src/execute_task_solution_capability.h
2020-06-11 11:03:50 +02:00

71 lines
2.7 KiB
C++

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/*
* Capability to execute trajectories through a ROS action
* that were generated by the MoveIt Task Constructor.
*
* Author: Michael 'v4hn' Goerner
* */
#pragma once
#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
#include <memory>
namespace move_group {
class ExecuteTaskSolutionCapability : public MoveGroupCapability
{
public:
ExecuteTaskSolutionCapability();
void initialize() override;
private:
bool constructMotionPlan(const moveit_task_constructor_msgs::Solution& solution,
plan_execution::ExecutableMotionPlan& plan);
void goalCallback(const moveit_task_constructor_msgs::ExecuteTaskSolutionGoalConstPtr& goal);
void preemptCallback();
std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::ExecuteTaskSolutionAction>> as_;
};
} // namespace move_group