44 #include <rclcpp_action/rclcpp_action.hpp>
45 #include <moveit_msgs/action/execute_trajectory.hpp>
63 void executePathCallback(
const std::shared_ptr<ExecTrajectoryGoal>& goal);
64 void executePath(
const std::shared_ptr<ExecTrajectoryGoal>& goal, std::shared_ptr<ExecTrajectory::Result>& action_res);
66 void preemptExecuteTrajectoryCallback();
67 void setExecuteTrajectoryState(
MoveGroupState state,
const std::shared_ptr<ExecTrajectoryGoal>& goal);
70 rclcpp::CallbackGroup::SharedPtr callback_group_;
71 rclcpp::executors::SingleThreadedExecutor callback_executor_;
72 std::thread callback_thread_;
74 std::shared_ptr<rclcpp_action::Server<ExecTrajectory>> execute_action_server_;
~MoveGroupExecuteTrajectoryAction() override
MoveGroupExecuteTrajectoryAction()
void initialize() override
moveit_msgs::action::ExecuteTrajectory ExecTrajectory
rclcpp_action::ServerGoalHandle< ExecTrajectory > ExecTrajectoryGoal