cl_move_group_interface::CbMoveKnownState Class Reference

#include <cb_move_known_state.hpp>

Inheritance diagram for cl_move_group_interface::CbMoveKnownState:

Collaboration diagram for cl_move_group_interface::CbMoveKnownState:

Public Member Functions
	CbMoveKnownState (std::string pkg, std::string config_path)
virtual	~CbMoveKnownState ()
void	onEntry () override
Public Member Functions inherited from cl_move_group_interface::CbMoveJoints
	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	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)

Private Member Functions
std::map< std::string, double >	loadJointStatesFromFile (std::string pkg, std::string filepath)

Private Attributes
std::string	pkg_
std::string	config_path_

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbMoveJoints
std::optional< double >	scalingFactor_
std::map< std::string, double >	jointValueTarget_
std::optional< std::string >	group_
Protected Member Functions inherited from cl_move_group_interface::CbMoveJoints
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)
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 inherited from cl_move_group_interface::CbMoveJoints
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 29 of file cb_move_known_state.hpp.

Constructor & Destructor Documentation

CbMoveKnownState()

cl_move_group_interface::CbMoveKnownState::CbMoveKnownState	(	std::string	pkg,
		std::string	config_path
	)

Definition at line 29 of file cb_move_known_state.cpp.

: pkg_(pkg), config_path_(config_path)
{
}

~CbMoveKnownState()

cl_move_group_interface::CbMoveKnownState::~CbMoveKnownState ( )

virtual

Definition at line 34 of file cb_move_known_state.cpp.

{}

Member Function Documentation

loadJointStatesFromFile()

std::map< std::string, double > cl_move_group_interface::CbMoveKnownState::loadJointStatesFromFile ( std::string  pkg, std::string  filepath  )

private

Definition at line 43 of file cb_move_known_state.cpp.

{
  //auto pkgpath = ros::package::getPath(pkg);
  std::string pkgpath = ament_index_cpp::get_package_share_directory(pkg);
 
  std::map<std::string, double> jointStates;
 
  if (pkgpath == "")
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "[" << getName() << "] package not found for the known poses file: " << pkg
                       << std::endl
                       << " [IGNORING BEHAVIOR]");
    return jointStates;
  }
 
  filepath = pkgpath + "/" + filepath;
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] Opening file with joint known state: " << filepath);
 
  if (std::filesystem::exists(filepath))
  {
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] known state file exists: " << filepath);
  }
  else
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "[" << getName() << "] known state file does not exists: " << filepath);
  }
 
  std::ifstream ifs(filepath.c_str(), std::ifstream::in);
  if (ifs.good() == false)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(),
      "[" << getName() << "] Error opening file with joint known states: " << filepath);
    throw std::string("joint state files not found");
  }
 
  try
  {
#ifdef HAVE_NEW_YAMLCPP
    YAML::Node node = YAML::Load(ifs);
#else
    YAML::Parser parser(ifs);
    parser.GetNextDocument(node);
#endif
 
#ifdef HAVE_NEW_YAMLCPP
    const YAML::Node & wp_node_tmp = node["joint_states"];
    const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL;
#else
    const YAML::Node * wp_node = node.FindValue("waypoints");
#endif
 
    if (wp_node != NULL)
    {
      try
      {
        for (YAML::const_iterator it = wp_node->begin(); it != wp_node->end(); ++it)
        {
          std::string key = it->first.as<std::string>();
          double value = it->second.as<double>();
          RCLCPP_DEBUG_STREAM(getLogger(), " joint - " << key << ": " << value);
          jointStates[key] = value;
        }
 
        return jointStates;
      }
      catch (std::exception & ex)
      {
        RCLCPP_ERROR(getLogger(), "trying to convert to map, failed, errormsg: %s", ex.what());
      }
 
      RCLCPP_INFO_STREAM(getLogger(), "Parsed " << jointStates.size() << " joint entries.");
    }
    else
    {
      RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any jointStates in the provided yaml file.");
    }
  }
  catch (const YAML::ParserException & ex)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what());
  }
  return jointStates;
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and generate_debs::parser.

Referenced by onEntry().

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onEntry()

void cl_move_group_interface::CbMoveKnownState::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveJoints.

Definition at line 36 of file cb_move_known_state.cpp.

{
  jointValueTarget_ = loadJointStatesFromFile(pkg_, config_path_);
  CbMoveJoints::onEntry();
}

References config_path_, cl_move_group_interface::CbMoveJoints::jointValueTarget_, loadJointStatesFromFile(), cl_move_group_interface::CbMoveJoints::onEntry(), and pkg_.

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Member Data Documentation

config_path_

std::string cl_move_group_interface::CbMoveKnownState::config_path_

private

Definition at line 41 of file cb_move_known_state.hpp.

Referenced by onEntry().

pkg_

std::string cl_move_group_interface::CbMoveKnownState::pkg_

private

Definition at line 40 of file cb_move_known_state.hpp.

Referenced by onEntry().

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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_known_state.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_known_state.cpp