execute_trajectory_action_capability.h

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/*
 * Capability of execute trajectory with a ROS action.
 *
 * Author: Kentaro Wada
 * */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_msgs/ExecuteTrajectoryAction.h>
#include <memory>
 
namespace move_group
{
class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
{
public:
  MoveGroupExecuteTrajectoryAction();
  ~MoveGroupExecuteTrajectoryAction();
 
  void initialize() override;
 
private:
  void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal);
  void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal,
                   moveit_msgs::ExecuteTrajectoryResult& action_res);
  void preemptExecuteTrajectoryCallback();
  void setExecuteTrajectoryState(MoveGroupState state);
 
  // Use our own callback queue and spinner to allow execution parallel to other capabilities
  ros::CallbackQueue callback_queue_;
  ros::AsyncSpinner spinner_;
  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::ExecuteTrajectoryAction> > execute_action_server_;
};
 
}  // namespace move_group