move_group_sequence_action.h

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#pragma once
 
#include <memory>
 
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit/move_group/move_group_capability.h>
 
#include <moveit_msgs/action/move_group_sequence.hpp>
 
namespace pilz_industrial_motion_planner
{
class CommandListManager;
using MoveGroupSequenceGoalHandle = rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroupSequence>;
 
class MoveGroupSequenceAction : public move_group::MoveGroupCapability
{
public:
  MoveGroupSequenceAction();
 
  void initialize() override;
 
private:
  using ExecutableTrajs = std::vector<plan_execution::ExecutableTrajectory>;
 
  using StartStateMsg = moveit_msgs::msg::MotionSequenceResponse::_sequence_start_type;
  using StartStatesMsg = std::vector<moveit_msgs::msg::MotionSequenceResponse::_sequence_start_type>;
  using PlannedTrajMsgs = moveit_msgs::msg::MotionSequenceResponse::_planned_trajectories_type;
 
private:
  void executeSequenceCallback(const std::shared_ptr<MoveGroupSequenceGoalHandle>& goal_handle);
  void
  executeSequenceCallbackPlanAndExecute(const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
                                        const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& action_res);
  void executeMoveCallbackPlanOnly(const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
                                   const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& res);
  void startMoveExecutionCallback();
  void startMoveLookCallback();
  void preemptMoveCallback();
  void setMoveState(move_group::MoveGroupState state);
  bool planUsingSequenceManager(const moveit_msgs::msg::MotionSequenceRequest& req,
                                plan_execution::ExecutableMotionPlan& plan);
 
private:
  static void convertToMsg(const ExecutableTrajs& trajs, StartStatesMsg& startStatesMsg,
                           PlannedTrajMsgs& plannedTrajsMsgs);
 
private:
  rclcpp::CallbackGroup::SharedPtr action_callback_group_;
  std::shared_ptr<rclcpp_action::Server<moveit_msgs::action::MoveGroupSequence>> move_action_server_;
  std::shared_ptr<MoveGroupSequenceGoalHandle> goal_handle_;
  moveit_msgs::action::MoveGroupSequence::Feedback::SharedPtr move_feedback_;
 
  move_group::MoveGroupState move_state_{ move_group::IDLE };
  std::unique_ptr<pilz_industrial_motion_planner::CommandListManager> command_list_manager_;
};
}  // namespace pilz_industrial_motion_planner