cl_moveit2z::CbMoveEndEffector Class Reference

#include <cb_move_end_effector.hpp>

Inheritance diagram for cl_moveit2z::CbMoveEndEffector:

Collaboration diagram for cl_moveit2z::CbMoveEndEffector:

Public Member Functions
	CbMoveEndEffector ()
	CbMoveEndEffector (geometry_msgs::msg::PoseStamped target_pose, std::string tip_link="")
virtual void	onEntry () override
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)
virtual void	onExit ()

Public Attributes
geometry_msgs::msg::PoseStamped	targetPose
std::string	tip_link_
std::optional< std::string >	group_

Protected Member Functions
bool	moveToAbsolutePose (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, geometry_msgs::msg::PoseStamped &targetObjectPose)
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
CpMoveGroupInterface *	cpMoveGroup_ = nullptr

Detailed Description

Definition at line 37 of file cb_move_end_effector.hpp.

Constructor & Destructor Documentation

CbMoveEndEffector() [1/2]

cl_moveit2z::CbMoveEndEffector::CbMoveEndEffector ( )

inline

Definition at line 44 of file cb_move_end_effector.hpp.

{}

CbMoveEndEffector() [2/2]

cl_moveit2z::CbMoveEndEffector::CbMoveEndEffector ( geometry_msgs::msg::PoseStamped target_pose, std::string tip_link = "" )

inline

Definition at line 46 of file cb_move_end_effector.hpp.

  : targetPose(target_pose)
  {
    tip_link_ = tip_link;
  }

References tip_link_.

Member Function Documentation

moveToAbsolutePose()

bool cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose ( moveit::planning_interface::MoveGroupInterface & moveGroupInterface, geometry_msgs::msg::PoseStamped & targetObjectPose )

inlineprotected

Definition at line 76 of file cb_move_end_effector.hpp.

  {
    RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
    rclcpp::sleep_for(500ms);
 
    // Try to use CpMotionPlanner component (preferred)
    CpMotionPlanner * motionPlanner = nullptr;
    this->requiresComponent(
      motionPlanner, smacc2::ComponentRequirement::SOFT);  // Optional component
 
    bool success = false;
    moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbMoveEndEffector] Target End effector Pose: " << targetObjectPose);
 
    if (motionPlanner != nullptr)
    {
      // Use component-based motion planner (preferred)
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] Using CpMotionPlanner component for planning");
 
      PlanningOptions options;
      options.planningTime = 1.0;
      options.poseReferenceFrame = targetObjectPose.header.frame_id;
 
      std::optional<std::string> tipLinkOpt;
      if (!tip_link_.empty())
      {
        tipLinkOpt = tip_link_;
      }
 
      auto result = motionPlanner->planToPose(targetObjectPose, tipLinkOpt, options);
 
      success = result.success;
      if (success)
      {
        computedMotionPlan = result.plan;
        RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] Planning succeeded (via CpMotionPlanner)");
      }
      else
      {
        RCLCPP_WARN(
          getLogger(), "[CbMoveEndEffector] Planning failed (via CpMotionPlanner): %s",
          result.errorMessage.c_str());
      }
    }
    else
    {
      // Fallback to legacy direct API calls
      RCLCPP_WARN(
        getLogger(),
        "[CbMoveEndEffector] CpMotionPlanner component not available, using legacy planning "
        "(consider adding CpMotionPlanner component)");
 
      moveGroupInterface.setPlanningTime(1.0);
      moveGroupInterface.setPoseTarget(targetObjectPose, tip_link_);
      moveGroupInterface.setPoseReferenceFrame(targetObjectPose.header.frame_id);
 
      success =
        (moveGroupInterface.plan(computedMotionPlan) == moveit::core::MoveItErrorCode::SUCCESS);
      RCLCPP_INFO(
        getLogger(), "[CbMoveEndEffector] Planning %s (legacy mode)",
        success ? "succeeded" : "FAILED");
    }
 
    // Execution
    if (success)
    {
      // Try to use CpTrajectoryExecutor component (preferred)
      CpTrajectoryExecutor * trajectoryExecutor = nullptr;
      this->requiresComponent(
        trajectoryExecutor, smacc2::ComponentRequirement::SOFT);  // Optional component
 
      bool executionSuccess = false;
 
      if (trajectoryExecutor != nullptr)
      {
        // Use component-based trajectory executor (preferred)
        RCLCPP_INFO(
          getLogger(), "[CbMoveEndEffector] Using CpTrajectoryExecutor component for execution");
 
        ExecutionOptions execOptions;
        execOptions.trajectoryName = this->getName();
 
        auto execResult = trajectoryExecutor->executePlan(computedMotionPlan, execOptions);
        executionSuccess = execResult.success;
 
        if (executionSuccess)
        {
          RCLCPP_INFO(
            getLogger(), "[CbMoveEndEffector] Execution succeeded (via CpTrajectoryExecutor)");
        }
        else
        {
          RCLCPP_WARN(
            getLogger(), "[CbMoveEndEffector] Execution failed (via CpTrajectoryExecutor): %s",
            execResult.errorMessage.c_str());
        }
      }
      else
      {
        // Fallback to legacy direct execution
        RCLCPP_WARN(
          getLogger(),
          "[CbMoveEndEffector] CpTrajectoryExecutor component not available, using legacy "
          "execution "
          "(consider adding CpTrajectoryExecutor component)");
 
        auto executionResult = moveGroupInterface.execute(computedMotionPlan);
        executionSuccess = (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
        RCLCPP_INFO(
          getLogger(), "[CbMoveEndEffector] Execution %s (legacy mode)",
          executionSuccess ? "succeeded" : "failed");
      }
 
      // Post events
      if (executionSuccess)
      {
        cpMoveGroup_->postEventMotionExecutionSucceeded();
        this->postSuccessEvent();
      }
      else
      {
        cpMoveGroup_->postEventMotionExecutionFailed();
        this->postFailureEvent();
      }
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] planning failed, skipping execution");
      cpMoveGroup_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
 
    RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
    rclcpp::sleep_for(500ms);
 
    return success;
  }

References cpMoveGroup_, cl_moveit2z::CpTrajectoryExecutor::executePlan(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_moveit2z::PlanningOptions::planningTime, cl_moveit2z::CpMotionPlanner::planToPose(), cl_moveit2z::PlanningOptions::poseReferenceFrame, cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionFailed(), cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionSucceeded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), smacc2::SOFT, tip_link_, and cl_moveit2z::ExecutionOptions::trajectoryName.

Referenced by onEntry().

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onEntry()

virtual void cl_moveit2z::CbMoveEndEffector::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 52 of file cb_move_end_effector.hpp.

  {
    this->requiresComponent(cpMoveGroup_);
 
    if (this->group_)
    {
      RCLCPP_DEBUG(
        getLogger(), "[CbMoveEndEfector] new thread started to move absolute end effector");
      moveit::planning_interface::MoveGroupInterface move_group(getNode(), *group_);
      this->moveToAbsolutePose(move_group, targetPose);
      RCLCPP_DEBUG(
        getLogger(), "[CbMoveEndEfector] to move absolute end effector thread destroyed");
    }
    else
    {
      RCLCPP_DEBUG(
        getLogger(), "[CbMoveEndEfector] new thread started to move absolute end effector");
      this->moveToAbsolutePose(*(cpMoveGroup_->moveGroupClientInterface), targetPose);
      RCLCPP_DEBUG(
        getLogger(), "[CbMoveEndEfector] to move absolute end effector thread destroyed");
    }
  }

References cpMoveGroup_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), group_, cl_moveit2z::CpMoveGroupInterface::moveGroupClientInterface, moveToAbsolutePose(), smacc2::ISmaccClientBehavior::requiresComponent(), and targetPose.

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Member Data Documentation

cpMoveGroup_

CpMoveGroupInterface* cl_moveit2z::CbMoveEndEffector::cpMoveGroup_ = nullptr

protected

Definition at line 219 of file cb_move_end_effector.hpp.

Referenced by moveToAbsolutePose(), and onEntry().

group_

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

Definition at line 42 of file cb_move_end_effector.hpp.

Referenced by onEntry().

targetPose

geometry_msgs::msg::PoseStamped cl_moveit2z::CbMoveEndEffector::targetPose

Definition at line 40 of file cb_move_end_effector.hpp.

Referenced by onEntry().

tip_link_

std::string cl_moveit2z::CbMoveEndEffector::tip_link_

Definition at line 41 of file cb_move_end_effector.hpp.

Referenced by CbMoveEndEffector(), and moveToAbsolutePose().

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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_move_end_effector.hpp