execute_trajectory_action_capability.h

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/*
 * Capability of execute trajectory with a ROS action.
 * In order to allow monitoring and stopping the execution,
 * the service should be turned into an action.
 *
 * Author: Kentaro Wada
 * */

#ifndef MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
#define MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_msgs/ExecuteTrajectoryAction.h>
#include <memory>

namespace move_group
{
class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
{
public:
  MoveGroupExecuteTrajectoryAction();

  virtual void initialize();

private:
  void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal);
  void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal,
                   moveit_msgs::ExecuteTrajectoryResult& action_res);
  void preemptExecuteTrajectoryCallback();
  void setExecuteTrajectoryState(MoveGroupState state);

  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::ExecuteTrajectoryAction> > execute_action_server_;
};

}  // namespace move_group

#endif  // MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_