cb_move_end_effector.hpp

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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
 *
 *****************************************************************************************************************/
 
#pragma once
 
#include <future>
#include <move_group_interface_client/cl_movegroup.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace cl_move_group_interface
{
class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior
{
public:
  geometry_msgs::msg::PoseStamped targetPose;
  std::string tip_link_;
  std::optional<std::string> group_;
 
  CbMoveEndEffector();
  CbMoveEndEffector(geometry_msgs::msg::PoseStamped target_pose, std::string tip_link = "");
 
  virtual void onEntry() override;
 
protected:
  bool moveToAbsolutePose(
    moveit::planning_interface::MoveGroupInterface & moveGroupInterface,
    geometry_msgs::msg::PoseStamped & targetObjectPose);
 
  ClMoveGroup * movegroupClient_;
};
}  // namespace cl_move_group_interface