cl_moveit2z::CbMoveJoints Class Reference

#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	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)

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

Static Protected Member Functions
static std::string	currentJointStatesToString (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, std::map< std::string, double > &targetJoints)

Protected Attributes
CpMoveGroupInterface *	cpMoveGroup_ = nullptr

Detailed Description

Definition at line 37 of file cb_move_joints.hpp.

Constructor & Destructor Documentation

CbMoveJoints() [1/2]

cl_moveit2z::CbMoveJoints::CbMoveJoints ( )

inline

Definition at line 44 of file cb_move_joints.hpp.

{}

CbMoveJoints() [2/2]

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

inline

Definition at line 46 of file cb_move_joints.hpp.

  : jointValueTarget_(jointValueTarget)
  {
  }

Member Function Documentation

currentJointStatesToString()

static std::string cl_moveit2z::CbMoveJoints::currentJointStatesToString ( moveit::planning_interface::MoveGroupInterface & moveGroupInterface, std::map< std::string, double > & targetJoints )

inlinestaticprotected

Definition at line 70 of file cb_move_joints.hpp.

  {
    auto state = moveGroupInterface.getCurrentState();
 
    if (state == nullptr) return std::string();
 
    auto vnames = state->getVariableNames();
 
    std::stringstream ss;
 
    for (auto & tgj : targetJoints)
    {
      auto it = std::find(vnames.begin(), vnames.end(), tgj.first);
      auto index = std::distance(vnames.begin(), it);
 
      ss << tgj.first << ":" << state->getVariablePosition(index) << std::endl;
    }
 
    return ss.str();
  }

Referenced by moveJoints().

Here is the caller graph for this function:

moveJoints()

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

inlineprotected

Definition at line 93 of file cb_move_joints.hpp.

  {
    if (jointValueTarget_.size() == 0)
    {
      RCLCPP_WARN(getLogger(), "[CbMoveJoints] No joint value specified. Skipping planning call.");
      cpMoveGroup_->postEventMotionExecutionFailed();
      this->postFailureEvent();
      return;
    }
 
    // 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;
 
    if (motionPlanner != nullptr)
    {
      // Use component-based motion planner (preferred)
      RCLCPP_INFO(getLogger(), "[CbMoveJoints] Using CpMotionPlanner component for joint planning");
 
      PlanningOptions options;
      if (scalingFactor_)
      {
        options.maxVelocityScaling = *scalingFactor_;
      }
 
      auto result = motionPlanner->planToJointTarget(jointValueTarget_, options);
 
      success = result.success;
      if (success)
      {
        computedMotionPlan = result.plan;
        RCLCPP_INFO(getLogger(), "[CbMoveJoints] Planning succeeded (via CpMotionPlanner)");
      }
      else
      {
        RCLCPP_WARN(
          getLogger(), "[CbMoveJoints] Planning failed (via CpMotionPlanner): %s",
          result.errorMessage.c_str());
      }
    }
    else
    {
      // Fallback to legacy direct API calls
      RCLCPP_WARN(
        getLogger(),
        "[CbMoveJoints] CpMotionPlanner component not available, using legacy planning "
        "(consider adding CpMotionPlanner component)");
 
      if (scalingFactor_) moveGroupInterface.setMaxVelocityScalingFactor(*scalingFactor_);
 
      moveGroupInterface.setJointValueTarget(jointValueTarget_);
 
      auto result = moveGroupInterface.plan(computedMotionPlan);
 
      success = (result == moveit::core::MoveItErrorCode::SUCCESS);
 
      RCLCPP_INFO(
        getLogger(), "[CbMoveJoints] Planning %s (legacy mode, code: %d)",
        success ? "SUCCESS" : "FAILED", result.val);
    }
 
    // 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(), "[CbMoveJoints] Using CpTrajectoryExecutor component for execution");
 
        ExecutionOptions execOptions;
        execOptions.trajectoryName = this->getName();
        if (scalingFactor_)
        {
          execOptions.maxVelocityScaling = *scalingFactor_;
        }
 
        auto execResult = trajectoryExecutor->executePlan(computedMotionPlan, execOptions);
        executionSuccess = execResult.success;
 
        if (executionSuccess)
        {
          RCLCPP_INFO(getLogger(), "[CbMoveJoints] Execution succeeded (via CpTrajectoryExecutor)");
        }
        else
        {
          RCLCPP_WARN(
            getLogger(), "[CbMoveJoints] Execution failed (via CpTrajectoryExecutor): %s",
            execResult.errorMessage.c_str());
        }
      }
      else
      {
        // Fallback to legacy direct execution
        RCLCPP_WARN(
          getLogger(),
          "[CbMoveJoints] 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(), "[CbMoveJoints] Execution %s (legacy mode)",
          executionSuccess ? "succeeded" : "failed");
      }
 
      // Post events
      if (executionSuccess)
      {
        RCLCPP_INFO_STREAM(
          getLogger(),
          "[" << this->getName() << "] motion execution succeeded. Throwing success event.");
        cpMoveGroup_->postEventMotionExecutionSucceeded();
        this->postSuccessEvent();
      }
      else
      {
        RCLCPP_WARN_STREAM(
          getLogger(), "[" << this->getName() << "] motion execution failed. Throwing fail event.");
        cpMoveGroup_->postEventMotionExecutionFailed();
        this->postFailureEvent();
      }
    }
    else
    {
      auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
      RCLCPP_WARN_STREAM(
        getLogger(), "[" << this->getName() << "] planning failed. Throwing fail event."
                         << std::endl
                         << statestr);
      cpMoveGroup_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }

References cpMoveGroup_, currentJointStatesToString(), cl_moveit2z::CpTrajectoryExecutor::executePlan(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), jointValueTarget_, cl_moveit2z::ExecutionOptions::maxVelocityScaling, cl_moveit2z::PlanningOptions::maxVelocityScaling, cl_moveit2z::CpMotionPlanner::planToJointTarget(), cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionFailed(), cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionSucceeded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), scalingFactor_, smacc2::SOFT, and cl_moveit2z::ExecutionOptions::trajectoryName.

Referenced by onEntry().

Here is the call graph for this function:

Here is the caller graph for this function:

onEntry()

virtual void cl_moveit2z::CbMoveJoints::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_moveit2z::CbMoveKnownState.

Definition at line 51 of file cb_move_joints.hpp.

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

References cpMoveGroup_, smacc2::ISmaccClientBehavior::getNode(), cl_moveit2z::CpMoveGroupInterface::moveGroupClientInterface, moveJoints(), and smacc2::ISmaccClientBehavior::requiresComponent().

Referenced by cl_moveit2z::CbMoveKnownState::onEntry().

Here is the call graph for this function:

Here is the caller graph for this function:

onExit()

virtual void cl_moveit2z::CbMoveJoints::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 67 of file cb_move_joints.hpp.

{}

Member Data Documentation

cpMoveGroup_

CpMoveGroupInterface* cl_moveit2z::CbMoveJoints::cpMoveGroup_ = nullptr

protected

Definition at line 240 of file cb_move_joints.hpp.

Referenced by moveJoints(), and onEntry().

group_

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

Definition at line 42 of file cb_move_joints.hpp.

jointValueTarget_

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

Definition at line 41 of file cb_move_joints.hpp.

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

scalingFactor_

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

Definition at line 40 of file cb_move_joints.hpp.

Referenced by moveJoints().

---

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

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