replan_invalidated_trajectory.cpp

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#include <moveit/local_planner/feedback_types.h>
#include <moveit/planner_logic_plugins/replan_invalidated_trajectory.h>
 
namespace
{
const rclcpp::Logger LOGGER = rclcpp::get_logger("hybrid_planning_manager");
}
 
namespace moveit::hybrid_planning
{
ReactionResult ReplanInvalidatedTrajectory::react(const std::string& event)
{
  if ((event == toString(LocalFeedbackEnum::COLLISION_AHEAD)) ||
      (event == toString(LocalFeedbackEnum::LOCAL_PLANNER_STUCK)))
  {
    if (!hybrid_planning_manager_->sendGlobalPlannerAction())  // Start global planning
    {
      hybrid_planning_manager_->sendHybridPlanningResponse(false);
    }
    return ReactionResult(event, "", moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
  }
  else
  {
    return ReactionResult(event, "'ReplanInvalidatedTrajectory' plugin cannot handle this event.",
                          moveit_msgs::msg::MoveItErrorCodes::FAILURE);
  }
};
}  // namespace moveit::hybrid_planning
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(moveit::hybrid_planning::ReplanInvalidatedTrajectory,
                       moveit::hybrid_planning::PlannerLogicInterface)