cl_movegroup.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 <tf2/impl/utils.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <move_group_interface_client/cl_movegroup.hpp>
 
using namespace std::chrono_literals;
using namespace moveit::planning_interface;
 
namespace cl_move_group_interface
{
ClMoveGroup::ClMoveGroup(const moveit::planning_interface::MoveGroupInterface::Options & options)
: options_(options)
{
}
 
ClMoveGroup::ClMoveGroup(std::string groupName) : options_(groupName) {}
 
ClMoveGroup::~ClMoveGroup() {}
 
void ClMoveGroup::onInitialize()
{
  moveGroupClientInterface = std::make_shared<MoveGroupInterface>(getNode(), options_);
  planningSceneInterface = std::make_shared<PlanningSceneInterface>(options_.move_group_namespace_);
}
 
void ClMoveGroup::postEventMotionExecutionSucceded()
{
  RCLCPP_INFO(getLogger(), "[ClMoveGroup] Post Motion Success Event");
  postEventMotionExecutionSucceded_();
}
 
void ClMoveGroup::postEventMotionExecutionFailed()
{
  RCLCPP_INFO(getLogger(), "[ClMoveGroup] Post Motion Failure Event");
  postEventMotionExecutionFailed_();
}
 
const moveit::planning_interface::MoveGroupInterface::Options & ClMoveGroup::getOptions() const
{
  return options_;
}
 
}  // namespace cl_move_group_interface