00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "execute_service_capability.h" 00038 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h> 00039 #include <moveit/move_group/capability_names.h> 00040 00041 move_group::MoveGroupExecuteService::MoveGroupExecuteService(): 00042 MoveGroupCapability("ExecutePathService") 00043 { 00044 } 00045 00046 void move_group::MoveGroupExecuteService::initialize() 00047 { 00048 execute_service_ = root_node_handle_.advertiseService(EXECUTE_SERVICE_NAME, &MoveGroupExecuteService::executeTrajectoryService, this); 00049 } 00050 00051 bool move_group::MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::ExecuteKnownTrajectory::Request &req, moveit_msgs::ExecuteKnownTrajectory::Response &res) 00052 { 00053 ROS_INFO("Received new trajectory execution service request..."); 00054 if (!context_->trajectory_execution_manager_) 00055 { 00056 ROS_ERROR("Cannot execute trajectory since ~allow_trajectory_execution was set to false"); 00057 res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED; 00058 return true; 00059 } 00060 00061 // \todo unwind trajectory before execution 00062 // robot_trajectory::RobotTrajectory to_exec(planning_scene_monitor_->getRobotModel(), ; 00063 00064 context_->trajectory_execution_manager_->clear(); 00065 if (context_->trajectory_execution_manager_->push(req.trajectory)) 00066 { 00067 context_->trajectory_execution_manager_->execute(); 00068 if (req.wait_for_execution) 00069 { 00070 moveit_controller_manager::ExecutionStatus es = context_->trajectory_execution_manager_->waitForExecution(); 00071 if (es == moveit_controller_manager::ExecutionStatus::SUCCEEDED) 00072 res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS; 00073 else 00074 if (es == moveit_controller_manager::ExecutionStatus::PREEMPTED) 00075 res.error_code.val = moveit_msgs::MoveItErrorCodes::PREEMPTED; 00076 else 00077 if (es == moveit_controller_manager::ExecutionStatus::TIMED_OUT) 00078 res.error_code.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT; 00079 else 00080 res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED; 00081 ROS_INFO_STREAM("Execution completed: " << es.asString()); 00082 } 00083 else 00084 { 00085 ROS_INFO("Trajectory was successfully forwarded to the controller"); 00086 res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS; 00087 } 00088 } 00089 else 00090 { 00091 res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED; 00092 } 00093 return true; 00094 } 00095 00096 00097 #include <class_loader/class_loader.h> 00098 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupExecuteService, move_group::MoveGroupCapability)