#include <cb_move_joints.hpp>

Inheritance diagram for cl_moveit2z::CbMoveJoints:

Collaboration diagram for cl_moveit2z::CbMoveJoints:

Public Member Functions
	CbMoveJoints ()

	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)

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)

Public Attributes
std::optional< double >	scalingFactor_

std::map< std::string, double >	jointValueTarget_

std::optional< std::string >	group_

Protected Member Functions
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)

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 31 of file cb_move_joints.hpp.

Constructor & Destructor Documentation

◆ CbMoveJoints() [1/2]

cl_moveit2z::CbMoveJoints::CbMoveJoints ( )

Definition at line 31 of file cb_move_joints.cpp.

31{}

◆ CbMoveJoints() [2/2]

cl_moveit2z::CbMoveJoints::CbMoveJoints ( const std::map< std::string, double > & jointValueTarget )

Definition at line 26 of file cb_move_joints.cpp.

: jointValueTarget_(jointValueTarget)
{
}

Member Function Documentation

◆ moveJoints()

void cl_moveit2z::CbMoveJoints::moveJoints ( moveit::planning_interface::MoveGroupInterface & moveGroupInterface )

protected

Definition at line 72 of file cb_move_joints.cpp.

{
  if (scalingFactor_) moveGroupInterface.setMaxVelocityScalingFactor(*scalingFactor_);
 
  bool success;
  moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
 
  if (jointValueTarget_.size() == 0)
  {
    RCLCPP_WARN(
      getLogger(), "[CbMoveJoints] No joint was value specified. Skipping planning call.");
    success = false;
  }
  else
  {
    moveGroupInterface.setJointValueTarget(jointValueTarget_);
    //moveGroupInterface.setGoalJointTolerance(0.01);
 
    auto result = moveGroupInterface.plan(computedMotionPlan);
 
    success = (result == moveit::core::MoveItErrorCode::SUCCESS);
 
    RCLCPP_INFO(
      getLogger(), "[CbMoveJoints] Execution plan result %s (%d)", success ? "SUCCESS" : "FAILED",
      result.val);
  }
 
  if (success)
  {
    auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
    //auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
 
    if (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName()
                         << "] motion execution succeeded. Throwing success event. " << std::endl
        //                         << statestr
      );
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_WARN_STREAM(
        getLogger(),
        "[" << this->getName() << "] motion execution failed. Throwing fail event." << std::endl
        //                         << statestr
      );
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[" << this->getName() << "] motion execution failed. Throwing fail event." << std::endl
      //                       << statestr
    );
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
}

References cl_moveit2z::currentJointStatesToString(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), jointValueTarget_, movegroupClient_, cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and scalingFactor_.

Referenced by onEntry().

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◆ onEntry()

void cl_moveit2z::CbMoveJoints::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_moveit2z::CbMoveKnownState, and cl_moveit2z::CbMoveLastTrajectoryInitialState.

Definition at line 33 of file cb_move_joints.cpp.

{
  this->requiresClient(movegroupClient_);
 
  if (this->group_)
  {
    moveit::planning_interface::MoveGroupInterface move_group(
      getNode(), moveit::planning_interface::MoveGroupInterface::Options(*(this->group_)));
    this->moveJoints(move_group);
  }
  else
  {
    this->moveJoints(*movegroupClient_->moveGroupClientInterface);
  }
}

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

Referenced by cl_moveit2z::CbMoveKnownState::onEntry(), and cl_moveit2z::CbMoveLastTrajectoryInitialState::onEntry().

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◆ onExit()

void cl_moveit2z::CbMoveJoints::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 139 of file cb_move_joints.cpp.

139{}

Member Data Documentation

◆ group_

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

Definition at line 36 of file cb_move_joints.hpp.

Referenced by onEntry().

◆ jointValueTarget_

std::map<std::string, double> cl_moveit2z::CbMoveJoints::jointValueTarget_

Definition at line 35 of file cb_move_joints.hpp.

Referenced by moveJoints(), cl_moveit2z::CbMoveKnownState::onEntry(), and cl_moveit2z::CbMoveLastTrajectoryInitialState::onEntry().

◆ movegroupClient_

ClMoveit2z* cl_moveit2z::CbMoveJoints::movegroupClient_

protected

Definition at line 45 of file cb_move_joints.hpp.

Referenced by moveJoints(), and onEntry().

◆ scalingFactor_

std::optional<double> cl_moveit2z::CbMoveJoints::scalingFactor_

Definition at line 34 of file cb_move_joints.hpp.

Referenced by moveJoints().

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

smacc2_client_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_move_joints.hpp
smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_move_joints.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes