mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
71 lines
2.7 KiB
C++
71 lines
2.7 KiB
C++
/*********************************************************************
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2018, Hamburg University.
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of Hamburg University nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*********************************************************************/
|
|
|
|
/*
|
|
* 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
|