cb_detach_object.cpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <move_group_interface_client/cl_movegroup.hpp>
#include <move_group_interface_client/client_behaviors/cb_detach_object.hpp>
 
namespace cl_move_group_interface
{
void CbDetachObject::onEntry()
{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] requesting components");
 
  cl_move_group_interface::CpGraspingComponent * graspingComponent;
  this->requiresComponent(graspingComponent);
 
  cl_move_group_interface::ClMoveGroup * moveGroupClient;
  this->requiresClient(moveGroupClient);
 
  auto & planningSceneInterface = moveGroupClient->planningSceneInterface;
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] requesting detach object");
 
  auto res = moveGroupClient->moveGroupClientInterface->detachObject(
    *(graspingComponent->currentAttachedObjectName));
  planningSceneInterface->removeCollisionObjects({*(graspingComponent->currentAttachedObjectName)});
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] detach result: " << res);
 
  if (res)
    this->postSuccessEvent();
  else
    this->postFailureEvent();
}
 
void CbDetachObject::onExit() {}
}  // namespace cl_move_group_interface