Program Listing for File empty_controller_handle.h
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/* Author: Paul Gesel */
#pragma once
#include <moveit_ros_control_interface/ControllerHandle.h>
#include <rclcpp/rclcpp.hpp>
namespace moveit_simple_controller_manager
{
/*
* An interface for controllers that have no handle, e.g. chained controllers like an Admittance controller
*/
class EmptyControllerHandle : public moveit_controller_manager::MoveItControllerHandle
{
public:
/* Topics will map to name/ns/goal, name/ns/result, etc */
EmptyControllerHandle(const std::string& name, const std::string& logger_name)
: moveit_controller_manager::MoveItControllerHandle(name), logger_(rclcpp::get_logger(logger_name))
{
}
bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override
{
RCLCPP_ERROR_STREAM(logger_, "This controller handle does not support trajectory execution.");
return false;
}
bool cancelExecution() override
{
return true;
}
bool waitForExecution(const rclcpp::Duration& /* timeout */) override
{
return true;
}
moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
{
return moveit_controller_manager::ExecutionStatus::FAILED;
}
private:
const rclcpp::Logger logger_;
};
} // end namespace moveit_simple_controller_manager