Program Listing for File action_based_controller_handle.h
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/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit/controller_manager/controller_manager.h>
#include <moveit/macros/class_forward.h>
#include <memory>
namespace moveit_simple_controller_manager
{
using namespace std::chrono_literals;
/*
* This exist solely to inject addJoint/getJoints into base non-templated class.
*/
class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle
{
public:
ActionBasedControllerHandleBase(const std::string& name, const std::string& logger_name)
: moveit_controller_manager::MoveItControllerHandle(name), logger_(rclcpp::get_logger(logger_name))
{
}
virtual void addJoint(const std::string& name) = 0;
virtual void getJoints(std::vector<std::string>& joints) = 0;
// TODO(JafarAbdi): Revise parameter lookup
// virtual void configure(XmlRpc::XmlRpcValue& /* config */)
// {
// }
protected:
const rclcpp::Logger logger_;
};
MOVEIT_CLASS_FORWARD(
ActionBasedControllerHandleBase); // Defines ActionBasedControllerHandleBasePtr, ConstPtr, WeakPtr... etc
template <typename T>
class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
{
public:
ActionBasedControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name, const std::string& ns,
const std::string& logger_name)
: ActionBasedControllerHandleBase(name, logger_name), node_(node), done_(true), namespace_(ns)
{
// Creating the action client does not ensure that the action server is actually running. Executing trajectories
// through the controller handle will fail if the server is not running when an action goal message is sent.
controller_action_client_ = rclcpp_action::create_client<T>(node, getActionName());
last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
}
bool cancelExecution() override
{
if (!controller_action_client_)
return false;
if (!done_)
{
RCLCPP_INFO_STREAM(logger_, "Cancelling execution for " << name_);
auto cancel_result_future = controller_action_client_->async_cancel_goal(current_goal_);
const auto& result = cancel_result_future.get();
if (!result)
RCLCPP_ERROR(logger_, "Failed to cancel goal");
last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
done_ = true;
}
return true;
}
virtual void
controllerDoneCallback(const typename rclcpp_action::ClientGoalHandle<T>::WrappedResult& wrapped_result) = 0;
bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_seconds(-1.0)) override
{
auto result_callback_done = std::make_shared<std::promise<bool>>();
auto result_future = controller_action_client_->async_get_result(
current_goal_, [this, result_callback_done](const auto& wrapped_result) {
controllerDoneCallback(wrapped_result);
result_callback_done->set_value(true);
});
if (timeout < std::chrono::nanoseconds(0))
{
result_future.wait();
}
else
{
std::future_status status;
if (node_->get_parameter("use_sim_time").as_bool())
{
const auto start = node_->now();
do
{
status = result_future.wait_for(50ms);
if ((status == std::future_status::timeout) and ((node_->now() - start) > timeout))
{
RCLCPP_WARN(logger_, "waitForExecution timed out");
return false;
}
} while (status == std::future_status::timeout);
}
else
{
status = result_future.wait_for(timeout.to_chrono<std::chrono::duration<double>>());
if (status == std::future_status::timeout)
{
RCLCPP_WARN(logger_, "waitForExecution timed out");
return false;
}
}
}
// To accommodate for the delay after the future for the result is ready and the time controllerDoneCallback takes to finish
result_callback_done->get_future().wait();
return true;
}
moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
{
return last_exec_;
}
void addJoint(const std::string& name) override
{
joints_.push_back(name);
}
void getJoints(std::vector<std::string>& joints) override
{
joints = joints_;
}
protected:
const rclcpp::Node::SharedPtr node_;
bool isConnected() const
{
return controller_action_client_->action_server_is_ready();
}
std::string getActionName() const
{
if (namespace_.empty())
{
return name_;
}
else
{
return name_ + "/" + namespace_;
}
}
void finishControllerExecution(const rclcpp_action::ResultCode& state)
{
RCLCPP_DEBUG_STREAM(logger_, "Controller " << name_ << " is done with state " << static_cast<int>(state));
if (state == rclcpp_action::ResultCode::SUCCEEDED)
{
last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
}
else if (state == rclcpp_action::ResultCode::ABORTED)
{
last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED;
}
else if (state == rclcpp_action::ResultCode::CANCELED)
{
last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
}
else if (state == rclcpp_action::ResultCode::UNKNOWN)
{
last_exec_ = moveit_controller_manager::ExecutionStatus::UNKNOWN;
}
else
{
last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED;
}
done_ = true;
}
moveit_controller_manager::ExecutionStatus last_exec_;
bool done_;
std::string namespace_;
std::vector<std::string> joints_;
typename rclcpp_action::Client<T>::SharedPtr controller_action_client_;
typename rclcpp_action::ClientGoalHandle<T>::SharedPtr current_goal_;
};
} // namespace moveit_simple_controller_manager