moveit_task_constructor/capabilities/src/execute_task_solution_capability.h
JafarAbdi c11a34a935 ExecuteTaskSolutionCapability: Reject new goals when busy (#496)
- Rename goalCallback() -> execCallback()
- Run execCallback asynchronously and use future to know status of execution
2024-03-07 16:01:15 +01:00

85 lines
3.4 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 <rclcpp_action/rclcpp_action.hpp>
#include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>
#include <memory>
namespace move_group {
class ExecuteTaskSolutionCapability : public MoveGroupCapability
{
public:
ExecuteTaskSolutionCapability();
void initialize() override;
private:
using ExecuteTaskSolutionAction = moveit_task_constructor_msgs::action::ExecuteTaskSolution;
using ActionServerType = rclcpp_action::Server<ExecuteTaskSolutionAction>;
bool constructMotionPlan(const moveit_task_constructor_msgs::msg::Solution& solution,
plan_execution::ExecutableMotionPlan& plan);
void execCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
rclcpp_action::CancelResponse
preemptCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
/** Only accept the goal if we aren't executing one */
rclcpp_action::GoalResponse handleNewGoal(const rclcpp_action::GoalUUID& /*uuid*/,
const ExecuteTaskSolutionAction::Goal::ConstSharedPtr& /*goal*/) const {
if (last_goal_future_.valid() &&
last_goal_future_.wait_for(std::chrono::seconds::zero()) != std::future_status::ready)
return rclcpp_action::GoalResponse::REJECT;
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
ActionServerType::SharedPtr as_;
std::future<void> last_goal_future_;
};
} // namespace move_group