cl_moveit2z::CbMoveEndEffectorRelative Class Reference

#include <cb_move_end_effector_relative.hpp>

Inheritance diagram for cl_moveit2z::CbMoveEndEffectorRelative:

Collaboration diagram for cl_moveit2z::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 ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
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)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

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 ()
	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_relative.hpp.

Constructor & Destructor Documentation

CbMoveEndEffectorRelative() [1/2]

cl_moveit2z::CbMoveEndEffectorRelative::CbMoveEndEffectorRelative

(

)

Definition at line 34 of file cb_move_end_effector_relative.cpp.

{ transform_.rotation.w = 1; }

References transform_.

CbMoveEndEffectorRelative() [2/2]

cl_moveit2z::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_moveit2z::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::core::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_moveit2z::ClMoveit2z::postEventMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onEntry().

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onEntry()

void cl_moveit2z::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_moveit2z::ClMoveit2z::moveGroupClientInterface, moveRelative(), smacc2::ISmaccClientBehavior::requiresClient(), and transform_.

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onExit()

void cl_moveit2z::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_moveit2z::CbMoveEndEffectorRelative::group_

Definition at line 33 of file cb_move_end_effector_relative.hpp.

Referenced by onEntry().

movegroupClient_

ClMoveit2z* cl_moveit2z::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_moveit2z::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/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_end_effector_relative.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_move_end_effector_relative.cpp