execute_task_solution_capability.h

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/*
 * Capability to execute trajectories through a ROS action
 * that were generated by the MoveIt Task Constructor.
 *
 * Author: Michael 'v4hn' Goerner
 * */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
 
#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
 
#include <memory>
 
namespace move_group {
 
class ExecuteTaskSolutionCapability : public MoveGroupCapability
{
public:
        ExecuteTaskSolutionCapability();
 
        void initialize() override;
 
private:
        bool constructMotionPlan(const moveit_task_constructor_msgs::Solution& solution,
                                 plan_execution::ExecutableMotionPlan& plan);
 
        void execCallback(const moveit_task_constructor_msgs::ExecuteTaskSolutionGoalConstPtr& goal);
        void preemptCallback();
 
        std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::ExecuteTaskSolutionAction>> as_;
};
 
}  // namespace move_group