Program Listing for File follow_joint_trajectory_controller_handle.h
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/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
#pragma once
#include <moveit_simple_controller_manager/action_based_controller_handle.h>
#include <control_msgs/action/follow_joint_trajectory.hpp>
#include <control_msgs/msg/joint_tolerance.hpp>
#include <functional>
namespace moveit_simple_controller_manager
{
/*
* This is generally used for arms, but could also be used for multi-dof hands,
* or anything using a control_mgs/FollowJointTrajectoryAction.
*/
class FollowJointTrajectoryControllerHandle
: public ActionBasedControllerHandle<control_msgs::action::FollowJointTrajectory>
{
public:
FollowJointTrajectoryControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name,
const std::string& action_ns)
: ActionBasedControllerHandle<control_msgs::action::FollowJointTrajectory>(
node, name, action_ns, "moveit.simple_controller_manager.follow_joint_trajectory_controller_handle")
{
}
bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override;
// TODO(JafarAbdi): Revise parameter lookup
// void configure(XmlRpc::XmlRpcValue& config) override;
protected:
static control_msgs::msg::JointTolerance& getTolerance(std::vector<control_msgs::msg::JointTolerance>& tolerances,
const std::string& name);
void controllerDoneCallback(
const rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::WrappedResult& wrapped_result)
override;
control_msgs::action::FollowJointTrajectory::Goal goal_template_;
};
} // end namespace moveit_simple_controller_manager