cl_move_group_interface::CbMoveEndEffectorRelative Class Reference

#include <cb_move_end_effector_relative.hpp>

Inheritance diagram for cl_move_group_interface::CbMoveEndEffectorRelative:

Collaboration diagram for cl_move_group_interface::CbMoveEndEffectorRelative:

Public Member Functions
	CbMoveEndEffectorRelative ()
	CbMoveEndEffectorRelative (geometry_msgs::msg::Transform transform)
virtual void	onEntry () override
virtual void	onExit () 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 Attributes
geometry_msgs::msg::Transform	transform_
std::optional< std::string >	group_

Protected Member Functions
void	moveRelative (moveit::planning_interface::MoveGroupInterface &moveGroupinterface, geometry_msgs::msg::Transform &transformOffset)
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

Protected Attributes
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 28 of file cb_move_end_effector_relative.hpp.

Constructor & Destructor Documentation

CbMoveEndEffectorRelative() [1/2]

cl_move_group_interface::CbMoveEndEffectorRelative::CbMoveEndEffectorRelative

(

)

Definition at line 34 of file cb_move_end_effector_relative.cpp.

{ transform_.rotation.w = 1; }

References transform_.

CbMoveEndEffectorRelative() [2/2]

cl_move_group_interface::CbMoveEndEffectorRelative::CbMoveEndEffectorRelative

(

geometry_msgs::msg::Transform

transform

)

Definition at line 36 of file cb_move_end_effector_relative.cpp.

: transform_(transform)
{
}

Member Function Documentation

moveRelative()

void cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative ( moveit::planning_interface::MoveGroupInterface &  moveGroupinterface, geometry_msgs::msg::Transform &  transformOffset  )

protected

Definition at line 63 of file cb_move_end_effector_relative.cpp.

{
  auto referenceStartPose = moveGroupInterface.getCurrentPose();
  tf2::Quaternion currentOrientation;
  tf2::convert(referenceStartPose.pose.orientation, currentOrientation);
  tf2::Quaternion desiredRelativeRotation;
 
  tf2::convert(transformOffset.rotation, desiredRelativeRotation);
 
  auto targetOrientation = desiredRelativeRotation * currentOrientation;
 
  geometry_msgs::msg::PoseStamped targetObjectPose = referenceStartPose;
 
  targetObjectPose.pose.orientation = tf2::toMsg(targetOrientation);
  targetObjectPose.pose.position.x += transformOffset.translation.x;
  targetObjectPose.pose.position.y += transformOffset.translation.y;
  targetObjectPose.pose.position.z += transformOffset.translation.z;
 
  moveGroupInterface.setPlanningTime(1.0);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbMoveEndEffectorRelative] Target End efector Pose: " << targetObjectPose);
 
  moveGroupInterface.setPoseTarget(targetObjectPose);
  moveGroupInterface.setPoseReferenceFrame("map");
 
  moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
  bool success =
    (moveGroupInterface.plan(computedMotionPlan) ==
     moveit::planning_interface::MoveItErrorCode::SUCCESS);
  RCLCPP_INFO(getLogger(), "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
  if (success)
  {
    auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
    if (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
    {
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffectorRelative] motion execution succeeded");
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
    }
    else
    {
      moveGroupInterface.setPoseTarget(
        referenceStartPose);  // undo to avoid abort-repeat state issues with this relative motion
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffectorRelative] motion execution failed");
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    moveGroupInterface.setPoseTarget(
      referenceStartPose);  //undo since we did not executed the motion
    RCLCPP_INFO(getLogger(), "[CbMoveEndEffectorRelative] motion execution failed");
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
}

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

Referenced by onEntry().

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onEntry()

void cl_move_group_interface::CbMoveEndEffectorRelative::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 41 of file cb_move_end_effector_relative.cpp.

{
  RCLCPP_INFO_STREAM(
    getLogger(),
    "[CbMoveEndEffectorRelative] Transform end effector pose relative: " << transform_);
 
  this->requiresClient(movegroupClient_);
 
  if (this->group_)
  {
    moveit::planning_interface::MoveGroupInterface move_group(
      getNode(), moveit::planning_interface::MoveGroupInterface::Options(*(this->group_)));
    this->moveRelative(move_group, this->transform_);
  }
  else
  {
    this->moveRelative(*movegroupClient_->moveGroupClientInterface, this->transform_);
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), group_, movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, moveRelative(), smacc2::ISmaccClientBehavior::requiresClient(), and transform_.

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onExit()

void cl_move_group_interface::CbMoveEndEffectorRelative::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 61 of file cb_move_end_effector_relative.cpp.

{}

Member Data Documentation

group_

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

Definition at line 33 of file cb_move_end_effector_relative.hpp.

Referenced by onEntry().

movegroupClient_

ClMoveGroup* cl_move_group_interface::CbMoveEndEffectorRelative::movegroupClient_

protected

Definition at line 48 of file cb_move_end_effector_relative.hpp.

Referenced by moveRelative(), and onEntry().

transform_

geometry_msgs::msg::Transform cl_move_group_interface::CbMoveEndEffectorRelative::transform_

Definition at line 31 of file cb_move_end_effector_relative.hpp.

Referenced by CbMoveEndEffectorRelative(), and onEntry().

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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_end_effector_relative.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector_relative.cpp