execute_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "execute_service_capability.h"
00038 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
00039 #include <moveit/move_group/capability_names.h>
00040 
00041 move_group::MoveGroupExecuteService::MoveGroupExecuteService():
00042   MoveGroupCapability("ExecutePathService")
00043 {
00044 }
00045 
00046 void move_group::MoveGroupExecuteService::initialize()
00047 {
00048   execute_service_ = root_node_handle_.advertiseService(EXECUTE_SERVICE_NAME, &MoveGroupExecuteService::executeTrajectoryService, this);
00049 }
00050 
00051 bool move_group::MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::ExecuteKnownTrajectory::Request &req, moveit_msgs::ExecuteKnownTrajectory::Response &res)
00052 {
00053   ROS_INFO("Received new trajectory execution service request...");
00054   if (!context_->trajectory_execution_manager_)
00055   {
00056     ROS_ERROR("Cannot execute trajectory since ~allow_trajectory_execution was set to false");
00057     res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED;
00058     return true;
00059   }
00060 
00061   // \todo unwind trajectory before execution
00062   //    robot_trajectory::RobotTrajectory to_exec(planning_scene_monitor_->getRobotModel(), ;
00063 
00064   context_->trajectory_execution_manager_->clear();
00065   if (context_->trajectory_execution_manager_->push(req.trajectory))
00066   {
00067     context_->trajectory_execution_manager_->execute();
00068     if (req.wait_for_execution)
00069     {
00070       moveit_controller_manager::ExecutionStatus es = context_->trajectory_execution_manager_->waitForExecution();
00071       if (es == moveit_controller_manager::ExecutionStatus::SUCCEEDED)
00072         res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
00073       else
00074         if (es == moveit_controller_manager::ExecutionStatus::PREEMPTED)
00075           res.error_code.val = moveit_msgs::MoveItErrorCodes::PREEMPTED;
00076         else
00077           if (es == moveit_controller_manager::ExecutionStatus::TIMED_OUT)
00078             res.error_code.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;
00079           else
00080             res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED;
00081       ROS_INFO_STREAM("Execution completed: " << es.asString());
00082     }
00083     else
00084     {
00085       ROS_INFO("Trajectory was successfully forwarded to the controller");
00086       res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
00087     }
00088   }
00089   else
00090   {
00091     res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED;
00092   }
00093   return true;
00094 }
00095 
00096 
00097 #include <class_loader/class_loader.h>
00098 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupExecuteService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:32:44