cl_move_group_interface::CbMoveCartesianRelative Class Reference

#include <cb_move_cartesian_relative.hpp>

Inheritance diagram for cl_move_group_interface::CbMoveCartesianRelative:

Collaboration diagram for cl_move_group_interface::CbMoveCartesianRelative:

Public Member Functions
	CbMoveCartesianRelative ()
	CbMoveCartesianRelative (geometry_msgs::msg::Vector3 offset)
virtual void	onEntry () override
virtual void	onExit () override
void	moveRelativeCartesian (moveit::planning_interface::MoveGroupInterface *movegroupClient, geometry_msgs::msg::Vector3 &offset)
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 Attributes
geometry_msgs::msg::Vector3	offset_
std::optional< double >	scalingFactor_
std::optional< std::string >	group_
ClMoveGroup *	moveGroupSmaccClient_

Additional Inherited Members
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

Detailed Description

Definition at line 30 of file cb_move_cartesian_relative.hpp.

Constructor & Destructor Documentation

CbMoveCartesianRelative() [1/2]

cl_move_group_interface::CbMoveCartesianRelative::CbMoveCartesianRelative

(

)

Definition at line 27 of file cb_move_cartesian_relative.cpp.

{}

CbMoveCartesianRelative() [2/2]

cl_move_group_interface::CbMoveCartesianRelative::CbMoveCartesianRelative

(

geometry_msgs::msg::Vector3

offset

)

Definition at line 29 of file cb_move_cartesian_relative.cpp.

: offset_(offset)
{
}

Member Function Documentation

moveRelativeCartesian()

void cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian	(	moveit::planning_interface::MoveGroupInterface *	movegroupClient,
		geometry_msgs::msg::Vector3 &	offset
	)

Definition at line 53 of file cb_move_cartesian_relative.cpp.

{
  std::vector<geometry_msgs::msg::Pose> waypoints;
 
  // this one was working fine but the issue is that for relative motions it grows up on ABORT-State-Loop pattern.
  // But, we need current pose because maybe setCurrentPose was not set by previous behaviors. The only solution would be
  // distinguishing between the execution error and the planning error with no state change
  //auto referenceStartPose = movegroupClient->getPoseTarget();
  auto referenceStartPose = movegroupClient->getCurrentPose();
  movegroupClient->setPoseReferenceFrame(referenceStartPose.header.frame_id);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbMoveCartesianRelative] RELATIVE MOTION, SOURCE POSE: " << referenceStartPose);
  RCLCPP_INFO_STREAM(getLogger(), "[CbMoveCartesianRelative] Offset: " << offset);
 
  waypoints.push_back(referenceStartPose.pose);  // up and out
 
  auto endPose = referenceStartPose.pose;
 
  endPose.position.x += offset.x;
  endPose.position.y += offset.y;
  endPose.position.z += offset.z;
 
  RCLCPP_INFO_STREAM(getLogger(), "[CbMoveCartesianRelative] DESTINY POSE: " << endPose);
 
  // target_pose2.position.x -= 0.15;
  waypoints.push_back(endPose);  // left
 
  movegroupClient->setPoseTarget(endPose);
 
  float scalinf = 0.5;
  if (scalingFactor_) scalinf = *scalingFactor_;
 
  RCLCPP_INFO_STREAM(getLogger(), "[CbMoveCartesianRelative] Using scaling factor: " << scalinf);
  movegroupClient->setMaxVelocityScalingFactor(scalinf);
 
  moveit_msgs::msg::RobotTrajectory trajectory;
  double fraction = movegroupClient->computeCartesianPath(
    waypoints,
    0.01,  // eef_step
    0.00,  // jump_threshold
    trajectory);
 
  moveit::planning_interface::MoveItErrorCode behaviorResult;
  if (fraction != 1.0 || fraction == -1)
  {
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[CbMoveCartesianRelative] Cartesian plan joint-continuity percentaje. Execution skipped "
      "because not 100% of cartesian motion: "
        << fraction * 100 << "%");
    behaviorResult = moveit::planning_interface::MoveItErrorCode::PLANNING_FAILED;
  }
  else
  {
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[CbMoveCartesianRelative] Cartesian plan joint-continuity percentaje: " << fraction);
 
    moveit::planning_interface::MoveGroupInterface::Plan grasp_pose_plan;
 
    // grasp_pose_plan.start_state_ = *(moveGroupInterface.getCurrentState());
    grasp_pose_plan.trajectory_ = trajectory;
    behaviorResult = movegroupClient->execute(grasp_pose_plan);
  }
 
  if (behaviorResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
  {
    RCLCPP_INFO(
      getLogger(), "[CbMoveCartesianRelative] relative motion execution succeeded: fraction %lf.",
      fraction);
    moveGroupSmaccClient_->postEventMotionExecutionSucceded();
    this->postSuccessEvent();
  }
  else
  {
    movegroupClient->setPoseTarget(
      referenceStartPose);  // undo changes since we did not executed the motion
    RCLCPP_INFO(
      getLogger(), "[CbMoveCartesianRelative] relative motion execution failed: fraction %lf.",
      fraction);
    moveGroupSmaccClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), moveGroupSmaccClient_, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and scalingFactor_.

Referenced by onEntry().

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onEntry()

void cl_move_group_interface::CbMoveCartesianRelative::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 34 of file cb_move_cartesian_relative.cpp.

{
  this->requiresClient(moveGroupSmaccClient_);
 
  if (this->group_)
  {
    moveit::planning_interface::MoveGroupInterface move_group(
      getNode(), moveit::planning_interface::MoveGroupInterface::Options(*(this->group_)));
    this->moveRelativeCartesian(&move_group, offset_);
  }
  else
  {
    this->moveRelativeCartesian(moveGroupSmaccClient_->moveGroupClientInterface.get(), offset_);
  }
}

References smacc2::ISmaccClientBehavior::getNode(), group_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, moveGroupSmaccClient_, moveRelativeCartesian(), offset_, and smacc2::ISmaccClientBehavior::requiresClient().

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onExit()

void cl_move_group_interface::CbMoveCartesianRelative::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 50 of file cb_move_cartesian_relative.cpp.

{}

Member Data Documentation

group_

std::optional<std::string> cl_move_group_interface::CbMoveCartesianRelative::group_

Definition at line 37 of file cb_move_cartesian_relative.hpp.

Referenced by onEntry().

moveGroupSmaccClient_

ClMoveGroup* cl_move_group_interface::CbMoveCartesianRelative::moveGroupSmaccClient_

Definition at line 52 of file cb_move_cartesian_relative.hpp.

Referenced by moveRelativeCartesian(), and onEntry().

offset_

geometry_msgs::msg::Vector3 cl_move_group_interface::CbMoveCartesianRelative::offset_

Definition at line 33 of file cb_move_cartesian_relative.hpp.

Referenced by onEntry().

scalingFactor_

std::optional<double> cl_move_group_interface::CbMoveCartesianRelative::scalingFactor_

Definition at line 35 of file cb_move_cartesian_relative.hpp.

Referenced by moveRelativeCartesian().

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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_move_cartesian_relative.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_cartesian_relative.cpp