cl_moveit2z::CbDetachObject Class Reference

Client behavior that detaches the currently attached collision object. More...

#include <cb_detach_object.hpp>

Inheritance diagram for cl_moveit2z::CbDetachObject:

Collaboration diagram for cl_moveit2z::CbDetachObject:

Public Member Functions
void	onEntry () override
	Called when the behavior is entered.
void	onExit () override
	Called when the behavior is exited.
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)

Additional Inherited Members
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

Detailed Description

Client behavior that detaches the currently attached collision object.

This behavior detaches whatever object is currently attached to the robot's gripper (tracked in CpGraspingComponent::currentAttachedObjectName) and removes it from the planning scene. Posts success or failure event based on the detach operation result.

Definition at line 38 of file cb_detach_object.hpp.

Member Function Documentation

onEntry()

void cl_moveit2z::CbDetachObject::onEntry ( )

inlineoverridevirtual

Called when the behavior is entered.

Retrieves the currently attached object name from CpGraspingComponent, detaches it from the gripper, and removes it from the planning scene.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 47 of file cb_detach_object.hpp.

  {
    cl_moveit2z::CpGraspingComponent * graspingComponent;
    this->requiresComponent(graspingComponent);
 
    cl_moveit2z::CpMoveGroupInterface * cpMoveGroup;
    this->requiresComponent(cpMoveGroup);
 
    if (graspingComponent->currentAttachedObjectName)
    {
      RCLCPP_INFO_STREAM(
        getLogger(),
        "[CbDetachObject] Detaching object: " << *(graspingComponent->currentAttachedObjectName));
 
      auto & planningSceneInterface = cpMoveGroup->planningSceneInterface;
      auto res = cpMoveGroup->moveGroupClientInterface->detachObject(
        *(graspingComponent->currentAttachedObjectName));
 
      planningSceneInterface->removeCollisionObjects(
        {*(graspingComponent->currentAttachedObjectName)});
 
      if (res)
      {
        RCLCPP_INFO(getLogger(), "[CbDetachObject] Detach succeeded");
        this->postSuccessEvent();
      }
      else
      {
        RCLCPP_ERROR(getLogger(), "[CbDetachObject] Detach failed");
        this->postFailureEvent();
      }
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbDetachObject] No object currently attached");
      this->postFailureEvent();
    }
  }

References cl_moveit2z::CpGraspingComponent::currentAttachedObjectName, smacc2::ISmaccClientBehavior::getLogger(), cl_moveit2z::CpMoveGroupInterface::moveGroupClientInterface, cl_moveit2z::CpMoveGroupInterface::planningSceneInterface, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and smacc2::ISmaccClientBehavior::requiresComponent().

Here is the call graph for this function:

onExit()

void cl_moveit2z::CbDetachObject::onExit ( )

inlineoverridevirtual

Called when the behavior is exited.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 89 of file cb_detach_object.hpp.

{}

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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_detach_object.hpp