cl_moveit2z::CbMoveEndEffector Class Reference

#include <cb_move_end_effector.hpp>

Inheritance diagram for cl_moveit2z::CbMoveEndEffector:

Collaboration diagram for cl_moveit2z::CbMoveEndEffector:

Public Member Functions
	CbMoveEndEffector ()
	CbMoveEndEffector (geometry_msgs::msg::PoseStamped target_pose, std::string tip_link="")
virtual void	onEntry () 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	onExit ()

Public Attributes
geometry_msgs::msg::PoseStamped	targetPose
std::string	tip_link_
std::optional< std::string >	group_

Protected Member Functions
bool	moveToAbsolutePose (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, geometry_msgs::msg::PoseStamped &targetObjectPose)
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
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 rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Protected Attributes
ClMoveit2z *	movegroupClient_

Detailed Description

Definition at line 28 of file cb_move_end_effector.hpp.

Constructor & Destructor Documentation

CbMoveEndEffector() [1/2]

cl_moveit2z::CbMoveEndEffector::CbMoveEndEffector

(

)

Definition at line 33 of file cb_move_end_effector.cpp.

{}

CbMoveEndEffector() [2/2]

cl_moveit2z::CbMoveEndEffector::CbMoveEndEffector	(	geometry_msgs::msg::PoseStamped	target_pose,
		std::string	tip_link = ""
	)

Definition at line 35 of file cb_move_end_effector.cpp.

: targetPose(target_pose)
{
  tip_link_ = tip_link;
}

References tip_link_.

Member Function Documentation

moveToAbsolutePose()

bool cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose ( moveit::planning_interface::MoveGroupInterface &  moveGroupInterface, geometry_msgs::msg::PoseStamped &  targetObjectPose  )

protected

Definition at line 63 of file cb_move_end_effector.cpp.

{
  // auto & planningSceneInterface = movegroupClient_->planningSceneInterface;
  RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  rclcpp::sleep_for(500ms);
 
  moveGroupInterface.setPlanningTime(1.0);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbMoveEndEffector] Target End efector Pose: " << targetObjectPose);
 
  moveGroupInterface.setPoseTarget(targetObjectPose, tip_link_);
  moveGroupInterface.setPoseReferenceFrame(targetObjectPose.header.frame_id);
 
  moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
  bool success =
    (moveGroupInterface.plan(computedMotionPlan) == moveit::core::MoveItErrorCode::SUCCESS);
  RCLCPP_INFO(
    getLogger(), "[CbMoveEndEffector] 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(), "[CbMoveEndEffector] motion execution succeeded");
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] motion execution failed");
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] motion execution failed");
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
 
  RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  rclcpp::sleep_for(500ms);
 
  return success;
}

References smacc2::ISmaccClientBehavior::getLogger(), movegroupClient_, cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and tip_link_.

Referenced by onEntry().

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onEntry()

void cl_moveit2z::CbMoveEndEffector::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 42 of file cb_move_end_effector.cpp.

{
  this->requiresClient(movegroupClient_);
 
  if (this->group_)
  {
    RCLCPP_DEBUG(
      getLogger(), "[CbMoveEndEfector] new thread started to move absolute end effector");
    moveit::planning_interface::MoveGroupInterface move_group(getNode(), *group_);
    this->moveToAbsolutePose(move_group, targetPose);
    RCLCPP_DEBUG(getLogger(), "[CbMoveEndEfector] to move absolute end effector thread destroyed");
  }
  else
  {
    RCLCPP_DEBUG(
      getLogger(), "[CbMoveEndEfector] new thread started to move absolute end effector");
    this->moveToAbsolutePose(*(movegroupClient_->moveGroupClientInterface), targetPose);
    RCLCPP_DEBUG(getLogger(), "[CbMoveEndEfector] to move absolute end effector thread destroyed");
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), group_, movegroupClient_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, moveToAbsolutePose(), smacc2::ISmaccClientBehavior::requiresClient(), and targetPose.

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Member Data Documentation

group_

std::optional<std::string> cl_moveit2z::CbMoveEndEffector::group_

Definition at line 33 of file cb_move_end_effector.hpp.

Referenced by onEntry().

movegroupClient_

ClMoveit2z* cl_moveit2z::CbMoveEndEffector::movegroupClient_

protected

Definition at line 45 of file cb_move_end_effector.hpp.

Referenced by moveToAbsolutePose(), and onEntry().

targetPose

geometry_msgs::msg::PoseStamped cl_moveit2z::CbMoveEndEffector::targetPose

Definition at line 31 of file cb_move_end_effector.hpp.

Referenced by onEntry().

tip_link_

std::string cl_moveit2z::CbMoveEndEffector::tip_link_

Definition at line 32 of file cb_move_end_effector.hpp.

Referenced by CbMoveEndEffector(), and moveToAbsolutePose().

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

• smacc2_client_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_move_end_effector.cpp