Class PlayMotion2Client

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class PlayMotion2Client : public rclcpp::Node

A client Node for the PlayMotion2 action server. This node provides methods to run motions, check if a motion is running, and manage motions (add, remove, list, check readiness).

Public Functions

explicit PlayMotion2Client(const std::string &name = "play_motion2_client", const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Constructor for the PlayMotion2Client.

Parameters:

  • name – The name of the node (defaults to “play_motion2_client”).

  • options – Node options for configuration.

~PlayMotion2Client()

Destructor for the PlayMotion2Client.

bool run_motion(const std::string &motion_name, const bool skip_planning, const std::chrono::seconds &motion_timeout = std::chrono::seconds(120))

Run a motion by its name.

Parameters:

  • motion_name – The name of the motion to run.

  • skip_planning – If true, skip the planning phase.

  • motion_timeout – Optional. The timeout for the motion execution (defaults to 120).

Returns:

True if the motion was successfully started, false otherwise.

bool run_motion_async(const std::string &motion_name, const bool skip_planning)

Run a motion asynchronously by its name.

Parameters:

  • motion_name – The name of the motion to run.

  • skip_planning – If true, skip the planning phase.

Returns:

True if the motion was successfully started, false otherwise.

bool run_motion(const play_motion2_msgs::msg::Motion &motion, const bool skip_planning, const std::chrono::seconds &motion_timeout = std::chrono::seconds(120))

Run a non-stored motion.

Parameters:

  • motion – The motion to run.

  • skip_planning – If true, skip the planning phase.

  • motion_timeout – Optional. The timeout for the motion execution (defaults to 120).

Returns:

True if the motion was successfully started, false otherwise.

bool run_motion_async(const play_motion2_msgs::msg::Motion &motion, const bool skip_planning)

Run a non-stored motion asynchronously.

Parameters:

  • motion – The motion to run.

  • skip_planning – If true, skip the planning phase.

Returns:

True if the motion was successfully started, false otherwise.

bool is_running_motion() const

Check if there is a motion currently running on the system.

Returns:

True if a motion is running, false otherwise.

bool last_succeeded() const

Check if the last motion execution was successful.

Returns:

True if the last motion succeeded, false otherwise.

std::vector<std::string> list_motions()

List all available motions.

Returns:

A vector of motion keys (names) available in the system.

bool is_motion_ready(const std::string &motion_key)

Check if a specific motion is ready to be executed.

Parameters:

motion_key – The key (name) of the motion to check.

Returns:

True if the motion is ready, false otherwise.

MotionInfo get_motion_info(const std::string &motion_key)

Get detailed information about a specific motion.

Parameters:

motion_key – The key (name) of the motion to retrieve information for.

Returns:

A MotionInfo object containing details about the motion.

bool add_motion(const MotionMsg &motion_msg, const bool overwrite)

Add a new motion to the system.

Parameters:

  • motion_msg – The MotionMsg object containing the motion details.

  • overwrite – If true, overwrite an existing motion with the same key.

Returns:

True if the motion was successfully added, false otherwise.

bool remove_motion(const std::string &motion_key)

Remove a motion from the system.

Parameters:

motion_key – The key (name) of the motion to remove.

Returns:

True if the motion was successfully removed, false otherwise.