cl_moveit2z::CbAttachObject Class Reference

Client behavior that attaches a collision object to the robot gripper. More...

#include <cb_attach_object.hpp>

Inheritance diagram for cl_moveit2z::CbAttachObject:

Collaboration diagram for cl_moveit2z::CbAttachObject:

Public Member Functions
	CbAttachObject (std::string targetObjectName)
	Constructor with object name.
	CbAttachObject ()
	Default constructor.
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	onEntry () override
	Called when the behavior is entered.
void	onExit () override
	Called when the behavior is exited.
Public Member Functions inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~CbMoveit2zClientBehaviorBase ()
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	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, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename SmaccComponentType >
void	requiresComponent (std::string name, SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Attributes
std::string	targetObjectName_
	Name of the target object to attach.

Private Attributes
cl_moveit2z::CpGraspingComponent *	graspingComponent_ = nullptr

Additional Inherited Members
Protected Member Functions inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
void	postMotionSuccess ()
void	postMotionFailure ()
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 inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
CpMoveGroupInterface *	cpMoveGroup_ = nullptr
CpMotionPlanner *	cpMotionPlanner_ = nullptr
CpTrajectoryExecutor *	cpTrajectoryExecutor_ = nullptr
CpTrajectoryHistory *	cpTrajectoryHistory_ = nullptr

Detailed Description

Client behavior that attaches a collision object to the robot gripper.

This behavior attaches a previously created grasping object to the robot's end effector. The object must exist in the CpGraspingComponent's graspingObjects map. Upon successful attachment, the object is added to the planning scene and attached to the gripper using the finger tip links.

Definition at line 39 of file cb_attach_object.hpp.

Constructor & Destructor Documentation

CbAttachObject() [1/2]

cl_moveit2z::CbAttachObject::CbAttachObject ( std::string targetObjectName )

inline

Constructor with object name.

Parameters

targetObjectName

Name of the object to attach (must exist in CpGraspingComponent)

Definition at line 46 of file cb_attach_object.hpp.

: targetObjectName_(targetObjectName) {}

CbAttachObject() [2/2]

cl_moveit2z::CbAttachObject::CbAttachObject ( )

inline

Default constructor.

Definition at line 51 of file cb_attach_object.hpp.

{}

Member Function Documentation

onEntry()

void cl_moveit2z::CbAttachObject::onEntry ( )

inlineoverridevirtual

Called when the behavior is entered.

Retrieves the target object from CpGraspingComponent, adds it to the planning scene, and attaches it to the gripper. Posts success or failure event based on whether the object was found.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 67 of file cb_attach_object.hpp.

  {
    // 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();
    }
  }

References cl_moveit2z::CbMoveit2zClientBehaviorBase::cpMoveGroup_, cl_moveit2z::CpGraspingComponent::getGraspingObject(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), graspingComponent_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and targetObjectName_.

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onExit()

void cl_moveit2z::CbAttachObject::onExit ( )

inlineoverridevirtual

Called when the behavior is exited.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 103 of file cb_attach_object.hpp.

{}

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_moveit2z::CbAttachObject::onStateOrthogonalAllocation ( )

inline

Definition at line 54 of file cb_attach_object.hpp.

  {
    this->requiresComponent(graspingComponent_, smacc2::ComponentRequirement::HARD);
    CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References graspingComponent_, smacc2::HARD, cl_moveit2z::CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation(), and smacc2::ISmaccClientBehavior::requiresComponent().

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Member Data Documentation

graspingComponent_

cl_moveit2z::CpGraspingComponent* cl_moveit2z::CbAttachObject::graspingComponent_ = nullptr

private

Definition at line 109 of file cb_attach_object.hpp.

Referenced by onEntry(), and onStateOrthogonalAllocation().

targetObjectName_

std::string cl_moveit2z::CbAttachObject::targetObjectName_

Name of the target object to attach.

Definition at line 106 of file cb_attach_object.hpp.

Referenced by onEntry().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_attach_object.hpp