cb_attach_object.hpp

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// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
#include <cl_moveit2z/cl_moveit2z.hpp>
#include <cl_moveit2z/client_behaviors/cb_moveit2z_client_behavior_base.hpp>
#include <cl_moveit2z/components/cp_grasping_objects.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <smacc2/smacc.hpp>
 
namespace cl_moveit2z
{
class CbAttachObject : public CbMoveit2zClientBehaviorBase
{
public:
  inline CbAttachObject(std::string targetObjectName) : targetObjectName_(targetObjectName) {}
 
  inline CbAttachObject() {}
 
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
    this->requiresComponent(graspingComponent_, smacc2::ComponentRequirement::HARD);
    CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }
 
  inline void onEntry() override
  {
    // components resolved in onStateOrthogonalAllocation
    auto * cpMoveGroup = cpMoveGroup_;
    auto * graspingComponent = graspingComponent_;
 
    moveit_msgs::msg::CollisionObject targetCollisionObject;
    bool found = graspingComponent->getGraspingObject(targetObjectName_, targetCollisionObject);
 
    if (found)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[CbAttachObject] Attaching object: " << targetObjectName_);
 
      targetCollisionObject.operation = moveit_msgs::msg::CollisionObject::ADD;
      targetCollisionObject.header.stamp = getNode()->now();
 
      cpMoveGroup->planningSceneInterface->applyCollisionObject(targetCollisionObject);
      graspingComponent->currentAttachedObjectName = targetObjectName_;
 
      cpMoveGroup->moveGroupClientInterface->attachObject(
        targetObjectName_, graspingComponent->gripperLink_, graspingComponent->fingerTipNames);
 
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR_STREAM(
        getLogger(),
        "[CbAttachObject] Object not found in grasping component: " << targetObjectName_);
      this->postFailureEvent();
    }
  }
 
  inline void onExit() override {}
 
  std::string targetObjectName_;
 
private:
  cl_moveit2z::CpGraspingComponent * graspingComponent_ = nullptr;
};
 
}  // namespace cl_moveit2z