mirror of
https://github.com/moveit/moveit_task_constructor.git
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- Rename goalCallback() -> execCallback() - Run execCallback asynchronously and use future to know status of execution
85 lines
3.4 KiB
C++
85 lines
3.4 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2018, Hamburg University.
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* All rights reserved.
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*
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* * Redistributions of source code must retain the above copyright
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/*
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* Capability to execute trajectories through a ROS action
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* that were generated by the MoveIt Task Constructor.
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*
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* Author: Michael 'v4hn' Goerner
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* */
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#pragma once
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#include <moveit/move_group/move_group_capability.h>
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#include <rclcpp_action/rclcpp_action.hpp>
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#include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>
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#include <memory>
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namespace move_group {
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class ExecuteTaskSolutionCapability : public MoveGroupCapability
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{
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public:
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ExecuteTaskSolutionCapability();
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void initialize() override;
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private:
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using ExecuteTaskSolutionAction = moveit_task_constructor_msgs::action::ExecuteTaskSolution;
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using ActionServerType = rclcpp_action::Server<ExecuteTaskSolutionAction>;
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bool constructMotionPlan(const moveit_task_constructor_msgs::msg::Solution& solution,
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plan_execution::ExecutableMotionPlan& plan);
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void execCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
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rclcpp_action::CancelResponse
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preemptCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
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/** Only accept the goal if we aren't executing one */
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rclcpp_action::GoalResponse handleNewGoal(const rclcpp_action::GoalUUID& /*uuid*/,
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const ExecuteTaskSolutionAction::Goal::ConstSharedPtr& /*goal*/) const {
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if (last_goal_future_.valid() &&
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last_goal_future_.wait_for(std::chrono::seconds::zero()) != std::future_status::ready)
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return rclcpp_action::GoalResponse::REJECT;
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return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
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}
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ActionServerType::SharedPtr as_;
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std::future<void> last_goal_future_;
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};
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} // namespace move_group
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