Program Listing for File move_group_sequence_action.h
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#pragma once
#include <memory>
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/action/move_group_sequence.hpp>
namespace pilz_industrial_motion_planner
{
class CommandListManager;
using MoveGroupSequenceGoalHandle = rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroupSequence>;
class MoveGroupSequenceAction : public move_group::MoveGroupCapability
{
public:
MoveGroupSequenceAction();
void initialize() override;
private:
using ExecutableTrajs = std::vector<plan_execution::ExecutableTrajectory>;
using StartStateMsg = moveit_msgs::msg::MotionSequenceResponse::_sequence_start_type;
using StartStatesMsg = std::vector<moveit_msgs::msg::MotionSequenceResponse::_sequence_start_type>;
using PlannedTrajMsgs = moveit_msgs::msg::MotionSequenceResponse::_planned_trajectories_type;
private:
void executeSequenceCallback(const std::shared_ptr<MoveGroupSequenceGoalHandle>& goal_handle);
void
executeSequenceCallbackPlanAndExecute(const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& action_res);
void executeMoveCallbackPlanOnly(const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& res);
void startMoveExecutionCallback();
void startMoveLookCallback();
void preemptMoveCallback();
void setMoveState(move_group::MoveGroupState state);
bool planUsingSequenceManager(const moveit_msgs::msg::MotionSequenceRequest& req,
plan_execution::ExecutableMotionPlan& plan);
private:
static void convertToMsg(const ExecutableTrajs& trajs, StartStatesMsg& startStatesMsg,
PlannedTrajMsgs& plannedTrajsMsgs);
private:
rclcpp::CallbackGroup::SharedPtr action_callback_group_;
std::shared_ptr<rclcpp_action::Server<moveit_msgs::action::MoveGroupSequence>> move_action_server_;
std::shared_ptr<MoveGroupSequenceGoalHandle> goal_handle_;
moveit_msgs::action::MoveGroupSequence::Feedback::SharedPtr move_feedback_;
move_group::MoveGroupState move_state_{ move_group::IDLE };
std::unique_ptr<pilz_industrial_motion_planner::CommandListManager> command_list_manager_;
};
} // namespace pilz_industrial_motion_planner