#include <cb_move_end_effector.h>

Inheritance diagram for cl_move_group_interface::CbMoveEndEffector:

Collaboration diagram for cl_move_group_interface::CbMoveEndEffector:

Public Member Functions
	CbMoveEndEffector ()

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

virtual void	onEntry () override

Public Member Functions inherited from smacc::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 smacc::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

ros::NodeHandle	getNode ()

Public Attributes
geometry_msgs::PoseStamped	targetPose

std::string	tip_link_

boost::optional< std::string >	group_

Protected Member Functions
bool	moveToAbsolutePose (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, geometry_msgs::PoseStamped &targetObjectPose)

Protected Member Functions inherited from smacc::SmaccAsyncClientBehavior
virtual void	executeOnEntry () override

virtual void	executeOnExit () override

void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

Protected Member Functions inherited from smacc::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	executeOnEntry ()

virtual void	executeOnExit ()

virtual void	dispose ()

Protected Attributes
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 14 of file cb_move_end_effector.h.

Constructor & Destructor Documentation

◆ CbMoveEndEffector() [1/2]

cl_move_group_interface::CbMoveEndEffector::CbMoveEndEffector ( )

Definition at line 14 of file cb_move_end_effector.cpp.

15{

16}

◆ CbMoveEndEffector() [2/2]

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

Definition at line 18 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::PoseStamped &	targetObjectPose
	)

protected

Definition at line 43 of file cb_move_end_effector.cpp.

{
  auto& planningSceneInterface = movegroupClient_->planningSceneInterface;
  ROS_DEBUG("[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  ros::Duration(0.5).sleep();
 
  moveGroupInterface.setPlanningTime(1.0);
 
  ROS_INFO_STREAM("[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::core::MoveItErrorCode::SUCCESS);
  ROS_INFO_NAMED("CbMoveEndEffector", "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
  if (success)
  {
    auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
    if (executionResult == moveit_msgs::MoveItErrorCodes::SUCCESS)
    {
      ROS_INFO("[CbMoveEndEffector] motion execution succeeded");
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
 
    }
    else
    {
      ROS_INFO("[CbMoveEndEffector] motion execution failed");
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    ROS_INFO("[CbMoveEndEffector] motion execution failed");
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
 
  ROS_DEBUG("[CbMoveEndEffector] Synchronous sleep of 1 seconds");
  ros::Duration(0.5).sleep();
 
  return success;
}

References movegroupClient_, cl_move_group_interface::ClMoveGroup::planningSceneInterface, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc::SmaccAsyncClientBehavior::postFailureEvent(), smacc::SmaccAsyncClientBehavior::postSuccessEvent(), and tip_link_.

Referenced by onEntry().

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◆ onEntry()

void cl_move_group_interface::CbMoveEndEffector::onEntry ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 24 of file cb_move_end_effector.cpp.

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

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

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Member Data Documentation

◆ group_

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

Definition at line 19 of file cb_move_end_effector.h.

Referenced by onEntry().

◆ movegroupClient_

ClMoveGroup* cl_move_group_interface::CbMoveEndEffector::movegroupClient_

protected

Definition at line 30 of file cb_move_end_effector.h.

Referenced by moveToAbsolutePose(), and onEntry().

◆ targetPose

geometry_msgs::PoseStamped cl_move_group_interface::CbMoveEndEffector::targetPose

Definition at line 17 of file cb_move_end_effector.h.

Referenced by onEntry().

◆ tip_link_

std::string cl_move_group_interface::CbMoveEndEffector::tip_link_

Definition at line 18 of file cb_move_end_effector.h.

Referenced by CbMoveEndEffector(), and moveToAbsolutePose().

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

smacc_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_move_end_effector.h
smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CbMoveEndEffector() [1/2]

◆ CbMoveEndEffector() [2/2]

Member Function Documentation

◆ moveToAbsolutePose()

◆ onEntry()

Member Data Documentation

◆ group_

◆ movegroupClient_

◆ targetPose

◆ tip_link_