cl_move_group_interface::CbMoveEndEffector Class Reference

#include <cb_move_end_effector.hpp>

Inheritance diagram for cl_move_group_interface::CbMoveEndEffector:

Collaboration diagram for cl_move_group_interface::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	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback 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)

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 ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Protected Attributes
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 28 of file cb_move_end_effector.hpp.

Constructor & Destructor Documentation

CbMoveEndEffector() [1/2]

cl_move_group_interface::CbMoveEndEffector::CbMoveEndEffector

(

)

Definition at line 33 of file cb_move_end_effector.cpp.

{}

CbMoveEndEffector() [2/2]

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

Definition at line 35 of file cb_move_end_effector.cpp.

: targetPose(target_pose)
{
  tip_link_ = tip_link;
}

References tip_link_.

Member Function Documentation

moveToAbsolutePose()

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

protected

Definition at line 63 of file cb_move_end_effector.cpp.

{
  // auto & planningSceneInterface = movegroupClient_->planningSceneInterface;
  RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  rclcpp::sleep_for(500ms);
 
  moveGroupInterface.setPlanningTime(1.0);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbMoveEndEffector] Target End efector Pose: " << targetObjectPose);
 
  moveGroupInterface.setPoseTarget(targetObjectPose, tip_link_);
  moveGroupInterface.setPoseReferenceFrame(targetObjectPose.header.frame_id);
 
  moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
  bool success =
    (moveGroupInterface.plan(computedMotionPlan) ==
     moveit::planning_interface::MoveItErrorCode::SUCCESS);
  RCLCPP_INFO(
    getLogger(), "[CbMoveEndEffector] Success Visualizing plan 1 (pose goal) %s",
    success ? "" : "FAILED");
 
  if (success)
  {
    auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
    if (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
    {
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] motion execution succeeded");
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] motion execution failed");
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[CbMoveEndEffector] motion execution failed");
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
 
  RCLCPP_DEBUG(getLogger(), "[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  rclcpp::sleep_for(500ms);
 
  return success;
}

References smacc2::ISmaccClientBehavior::getLogger(), movegroupClient_, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and tip_link_.

Referenced by onEntry().

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onEntry()

void cl_move_group_interface::CbMoveEndEffector::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 42 of file cb_move_end_effector.cpp.

{
  this->requiresClient(movegroupClient_);
 
  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(*(movegroupClient_->moveGroupClientInterface), targetPose);
    RCLCPP_DEBUG(getLogger(), "[CbMoveEndEfector] to move absolute end effector thread destroyed");
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), group_, movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, moveToAbsolutePose(), smacc2::ISmaccClientBehavior::requiresClient(), and targetPose.

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Member Data Documentation

group_

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

Definition at line 33 of file cb_move_end_effector.hpp.

Referenced by onEntry().

movegroupClient_

ClMoveGroup* cl_move_group_interface::CbMoveEndEffector::movegroupClient_

protected

Definition at line 45 of file cb_move_end_effector.hpp.

Referenced by moveToAbsolutePose(), and onEntry().

targetPose

geometry_msgs::msg::PoseStamped cl_move_group_interface::CbMoveEndEffector::targetPose

Definition at line 31 of file cb_move_end_effector.hpp.

Referenced by onEntry().

tip_link_

std::string cl_move_group_interface::CbMoveEndEffector::tip_link_

Definition at line 32 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 files:

• smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_move_end_effector.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector.cpp