#include <RobotTrajectoryExecutor.h>

Public Types
enum	ExecStatus { RUNNING, SUCCEEDED, PREEMPTED, TIMED_OUT, ABORTED, FAILED, UNKNOWN }
typedef ExecStatus	ExecutionStatus
typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	FollowJointTrajectoryActionClient
typedef path_navigation_msgs::PathExecutionGoal	PathGoal
typedef path_navigation_msgs::PathExecutionResult	PathGoalResult
typedef path_navigation_msgs::PathExecutionResultConstPtr	PathGoalResultConstPtr
typedef actionlib::SimpleActionClient < path_navigation_msgs::PathExecutionAction >	PathNavigationActionClient
typedef control_msgs::FollowJointTrajectoryGoal	TrajectoryGoal
typedef control_msgs::FollowJointTrajectoryResult	TrajectoryGoalResult
Public Member Functions
bool	cancelExecution ()
ExecutionStatus	getLastExecutionStatus ()
	RobotTrajectoryExecutor (const std::string &_virtual_joint_name, const std::string _trajectory_action_topic, const std::string _path_action_topic)
bool	sendTrajectory (const moveit_msgs::RobotTrajectory &t)
bool	waitForExecution (const ros::Duration &timeout)
	~RobotTrajectoryExecutor ()
Private Member Functions
bool	clientsConnected ()
bool	connectClients ()
bool	hasTrajectoryServer () const
void	pathDoneCB (const actionlib::SimpleClientGoalState &state, const PathGoalResultConstPtr &result)
	RobotTrajectoryExecutor (const RobotTrajectoryExecutor &other)
bool	sendNavigationActionRequest (const std::vector< geometry_msgs::Transform > &transforms, const std::string &transforms_frame_id, const float waitForResult, const std::vector< ros::Duration > &times=std::vector< ros::Duration >())
bool	sendNavigationActionRequest (const nav_msgs::Path &p, const std::string &transforms_frame_id, const float waitForResult=-1)
bool	sendTrajectoryActionRequest (const trajectory_msgs::JointTrajectory &trajectory, float waitForResult=-1)
void	setLastStateFrom (const actionlib::SimpleClientGoalState &state)
void	trajectoryDoneCB (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
Private Attributes
trajectory_msgs::JointTrajectory	current_trajectory
bool	has_current_request
bool	has_current_trajectory
bool	has_path_navigator
bool	has_trajectory_executor
FollowJointTrajectoryActionClient *	joint_trajectory_action_client
ExecutionStatus	last_exec
boost::mutex	lock
std::string	path_action_topic
PathNavigationActionClient *	path_navigation_action_client
bool	path_running
std::string	trajectory_action_topic
bool	trajectory_running
std::string	virtual_joint_name

Detailed Description

Executes a moveit_msgs/RobotTrajectory and takes the MultiDOF information from the virtual joint to make the robot navigate to that location.

So far, multi DOF trajectories (the virtual joint trajectories) are supported in the following way: Only 1 virtual joint is allowed, which specifies the robot navigation path. It is not executedin parallel to the arm's JointTrajectory though, as it probably is intended to. The arm's joint trajectory is only executed AFTER the robot has navigated along the path. This has to be changed later, a simple solution would be to take the trajectories apart into single points and send them in parallel to navigation and arm movement.

Author:: Jennifer Buehler

Definition at line 35 of file RobotTrajectoryExecutor.h.

Member Typedef Documentation

typedef ExecStatus moveit_controller_multidof::RobotTrajectoryExecutor::ExecutionStatus

Definition at line 50 of file RobotTrajectoryExecutor.h.

typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> moveit_controller_multidof::RobotTrajectoryExecutor::FollowJointTrajectoryActionClient

Definition at line 37 of file RobotTrajectoryExecutor.h.

typedef path_navigation_msgs::PathExecutionGoal moveit_controller_multidof::RobotTrajectoryExecutor::PathGoal

Definition at line 39 of file RobotTrajectoryExecutor.h.

typedef path_navigation_msgs::PathExecutionResult moveit_controller_multidof::RobotTrajectoryExecutor::PathGoalResult

Definition at line 40 of file RobotTrajectoryExecutor.h.

typedef path_navigation_msgs::PathExecutionResultConstPtr moveit_controller_multidof::RobotTrajectoryExecutor::PathGoalResultConstPtr

Definition at line 41 of file RobotTrajectoryExecutor.h.

typedef actionlib::SimpleActionClient<path_navigation_msgs::PathExecutionAction> moveit_controller_multidof::RobotTrajectoryExecutor::PathNavigationActionClient

Definition at line 38 of file RobotTrajectoryExecutor.h.

typedef control_msgs::FollowJointTrajectoryGoal moveit_controller_multidof::RobotTrajectoryExecutor::TrajectoryGoal

Definition at line 43 of file RobotTrajectoryExecutor.h.

typedef control_msgs::FollowJointTrajectoryResult moveit_controller_multidof::RobotTrajectoryExecutor::TrajectoryGoalResult

Definition at line 44 of file RobotTrajectoryExecutor.h.

Member Enumeration Documentation

enum moveit_controller_multidof::RobotTrajectoryExecutor::ExecStatus

Enumerator:

RUNNING
SUCCEEDED
PREEMPTED
TIMED_OUT
ABORTED
FAILED
UNKNOWN

Definition at line 47 of file RobotTrajectoryExecutor.h.

Constructor & Destructor Documentation

RobotTrajectoryExecutor::RobotTrajectoryExecutor	(	const std::string &	_virtual_joint_name,
		const std::string	_trajectory_action_topic,
		const std::string	_path_action_topic
	)

Parameters:

_virtual_joint_name	name of the virtual joint. If empty, then only execution of joint trajectories (no navigation) will be supported.
_trajectory_action_topic	the action topic onto which to forward the joint trajectory
_path_action_topic	the action topic onto which to forward the path navigation. This can be empty if _virtual_joint_name is empty as well and the robot is not mobile.

Definition at line 9 of file RobotTrajectoryExecutor.cpp.

RobotTrajectoryExecutor::~RobotTrajectoryExecutor ( )

Definition at line 85 of file RobotTrajectoryExecutor.cpp.

RobotTrajectoryExecutor::RobotTrajectoryExecutor ( const RobotTrajectoryExecutor & other ) [private]

Definition at line 60 of file RobotTrajectoryExecutor.cpp.

Member Function Documentation

bool RobotTrajectoryExecutor::cancelExecution ( )

Definition at line 190 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::clientsConnected ( ) [private]

Definition at line 413 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::connectClients ( ) [private]

Definition at line 421 of file RobotTrajectoryExecutor.cpp.

RobotTrajectoryExecutor::ExecutionStatus RobotTrajectoryExecutor::getLastExecutionStatus ( )

Definition at line 408 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::hasTrajectoryServer ( ) const [private]

Definition at line 91 of file RobotTrajectoryExecutor.cpp.

void RobotTrajectoryExecutor::pathDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const PathGoalResultConstPtr &	result
	)		`[private]`

Definition at line 252 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::sendNavigationActionRequest	(	const std::vector< geometry_msgs::Transform > &	transforms,
		const std::string &	transforms_frame_id,
		const float	waitForResult,
		const std::vector< ros::Duration > &	times = `std::vector<ros::Duration>()`
	)		`[private]`

Definition at line 344 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::sendNavigationActionRequest	(	const nav_msgs::Path &	p,
		const std::string &	transforms_frame_id,
		const float	waitForResult = `-1`
	)		`[private]`

Definition at line 361 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::sendTrajectory ( const moveit_msgs::RobotTrajectory & t )

Definition at line 96 of file RobotTrajectoryExecutor.cpp.

bool RobotTrajectoryExecutor::sendTrajectoryActionRequest	(	const trajectory_msgs::JointTrajectory &	trajectory,
		float	waitForResult = `-1`
	)		`[private]`

Definition at line 299 of file RobotTrajectoryExecutor.cpp.

void RobotTrajectoryExecutor::setLastStateFrom ( const actionlib::SimpleClientGoalState & state ) [private]

Definition at line 458 of file RobotTrajectoryExecutor.cpp.

void RobotTrajectoryExecutor::trajectoryDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`