#include <cb_end_effector_rotate.hpp>

Inheritance diagram for cl_move_group_interface::CbEndEffectorRotate:

Collaboration diagram for cl_move_group_interface::CbEndEffectorRotate:

Public Member Functions
	CbEndEffectorRotate (double deltaRadians, std::optional< std::string > tipLink=std::nullopt)

virtual	~CbEndEffectorRotate ()

virtual void	onEntry () override

Public Member Functions inherited from cl_move_group_interface::CbCircularPivotMotion
	CbCircularPivotMotion (std::optional< std::string > tipLink=std::nullopt)

	CbCircularPivotMotion (const geometry_msgs::msg::PoseStamped &planePivotPose, double deltaRadians, std::optional< std::string > tipLink=std::nullopt)

	CbCircularPivotMotion (const geometry_msgs::msg::PoseStamped &planePivotPose, const geometry_msgs::msg::Pose &relativeInitialPose, double deltaRadians, std::optional< std::string > tipLink=std::nullopt)

virtual void	generateTrajectory () override

virtual void	createMarkers () override

Public Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::optional< std::string > tipLink=std::nullopt)

	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::msg::PoseStamped > &endEffectorTrajectory, std::optional< std::string > tipLink=std::nullopt)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual void	onEntry () override

virtual void	onExit () override

virtual void	update () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)

virtual void	onEntry ()

virtual void	onExit ()

virtual void	executeOnEntry ()

virtual void	executeOnExit ()

Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Public Attributes
std::optional< std::string >	tipLink

Public Attributes inherited from cl_move_group_interface::CbCircularPivotMotion
std::optional< double >	angularSpeed_rad_s_

std::optional< double >	linearSpeed_m_s_

std::optional< geometry_msgs::msg::Pose >	relativeInitialPose_

Public Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::optional< std::string >	group_

std::optional< std::string >	tipLink_

std::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_

Additional Inherited Members
Protected Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)

void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)

virtual void	generateTrajectory ()=0

virtual void	createMarkers ()

void	getCurrentEndEffectorPose (std::string globalFrame, tf2::Stamped< tf2::Transform > &currentEndEffectorTransform)

Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

virtual void	update ()=0

Protected Attributes inherited from cl_move_group_interface::CbCircularPivotMotion
geometry_msgs::msg::PoseStamped	planePivotPose_

double	deltaRadians_

Protected Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::msg::PoseStamped >	endEffectorTrajectory_

ClMoveGroup *	movegroupClient_ = nullptr

visualization_msgs::msg::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 26 of file cb_end_effector_rotate.hpp.

Constructor & Destructor Documentation

◆ CbEndEffectorRotate()

cl_move_group_interface::CbEndEffectorRotate::CbEndEffectorRotate	(	double	deltaRadians,
		std::optional< std::string >	tipLink = `std::nullopt`
	)

Definition at line 34 of file cb_end_effector_rotate.cpp.

: CbCircularPivotMotion(tipLink)
{
  deltaRadians_ = deltaRadians;
}

References cl_move_group_interface::CbCircularPivotMotion::deltaRadians_.

◆ ~CbEndEffectorRotate()

cl_move_group_interface::CbEndEffectorRotate::~CbEndEffectorRotate ( )

virtual

Definition at line 40 of file cb_end_effector_rotate.cpp.

40{}

Member Function Documentation

◆ onEntry()

void cl_move_group_interface::CbEndEffectorRotate::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 42 of file cb_end_effector_rotate.cpp.

{
  // autocompute pivot pose
  tf2_ros::Buffer tfBuffer(getNode()->get_clock());
  tf2_ros::TransformListener tfListener(tfBuffer);
 
  tf2::Stamped<tf2::Transform> endEffectorInPivotFrame;
 
  int attempts = 3;
 
  this->requiresClient(movegroupClient_);
  if (!tipLink_)
  {
    tipLink_ = this->movegroupClient_->moveGroupClientInterface->getEndEffectorLink();
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[" << getName() << "] tip unspecified, using default end effector: " << *tipLink_);
  }
 
  while (attempts > 0)
  {
    try
    {
      //auto pivotFrameName = this->movegroupClient_->moveGroupClientInterface->getPlanningFrame();
      auto pivotFrameName = this->movegroupClient_->moveGroupClientInterface->getEndEffectorLink();
 
      tf2::Stamped<tf2::Transform> endEffectorInPivotFrame;
 
      tf2::fromMsg(
        tfBuffer.lookupTransform(pivotFrameName, *tipLink_, rclcpp::Time(), rclcpp::Duration(10s)),
        endEffectorInPivotFrame);
 
      tf2::toMsg(endEffectorInPivotFrame, this->planePivotPose_.pose);
      this->planePivotPose_.header.frame_id = endEffectorInPivotFrame.frame_id_;
      this->planePivotPose_.header.stamp =
        rclcpp::Time(endEffectorInPivotFrame.stamp_.time_since_epoch().count());
      break;
    }
    catch (const std::exception & e)
    {
      RCLCPP_ERROR_STREAM(getLogger(), e.what() << ". Attempt countdown: " << attempts);
      rclcpp::Duration(500ms);
      attempts--;
    }
  }
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] pivotPose: " << planePivotPose_);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] calling base CbCircularPivotMotion::onEntry");
  CbCircularPivotMotion::onEntry();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, smacc2::ISmaccClientBehavior::onEntry(), cl_move_group_interface::CbCircularPivotMotion::planePivotPose_, smacc2::ISmaccClientBehavior::requiresClient(), and cl_move_group_interface::CbMoveEndEffectorTrajectory::tipLink_.

Here is the call graph for this function:

Member Data Documentation

◆ tipLink

std::optional<std::string> cl_move_group_interface::CbEndEffectorRotate::tipLink

Definition at line 35 of file cb_end_effector_rotate.hpp.

The documentation for this class was generated from the following files:

smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_end_effector_rotate.hpp
smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_end_effector_rotate.cpp

Public Member Functions

Public Attributes

Additional Inherited Members