servo.cpp

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/*      Title     : servo.cpp
 *      Project   : moveit_servo
 *      Created   : 3/9/2017
 *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 */
 
#include <moveit_servo/make_shared_from_pool.h>
#include <moveit_servo/servo.h>
 
namespace moveit_servo
{
namespace
{
const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_servo.servo");
constexpr double ROBOT_STATE_WAIT_TIME = 10.0;  // seconds
}  // namespace
 
Servo::Servo(const rclcpp::Node::SharedPtr& node, const ServoParameters::SharedConstPtr& parameters,
             const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
  : planning_scene_monitor_{ planning_scene_monitor }
  , parameters_{ parameters }
  , servo_calcs_{ node, parameters, planning_scene_monitor_ }
  , collision_checker_{ node, parameters, planning_scene_monitor_ }
{
}
 
void Servo::start()
{
  if (!planning_scene_monitor_->getStateMonitor()->waitForCompleteState(parameters_->move_group_name,
                                                                        ROBOT_STATE_WAIT_TIME))
  {
    RCLCPP_ERROR(LOGGER, "Timeout waiting for current state");
    return;
  }
 
  setPaused(false);
 
  // Crunch the numbers in this timer
  servo_calcs_.start();
 
  // Check collisions in this timer
  if (parameters_->check_collisions)
    collision_checker_.start();
}
 
Servo::~Servo()
{
  setPaused(true);
}
 
void Servo::setPaused(bool paused)
{
  servo_calcs_.setPaused(paused);
  collision_checker_.setPaused(paused);
}
 
bool Servo::getCommandFrameTransform(Eigen::Isometry3d& transform)
{
  return servo_calcs_.getCommandFrameTransform(transform);
}
 
bool Servo::getCommandFrameTransform(geometry_msgs::msg::TransformStamped& transform)
{
  return servo_calcs_.getCommandFrameTransform(transform);
}
 
bool Servo::getEEFrameTransform(Eigen::Isometry3d& transform)
{
  return servo_calcs_.getEEFrameTransform(transform);
}
 
bool Servo::getEEFrameTransform(geometry_msgs::msg::TransformStamped& transform)
{
  return servo_calcs_.getEEFrameTransform(transform);
}
 
const ServoParameters::SharedConstPtr& Servo::getParameters() const
{
  return parameters_;
}
 
}  // namespace moveit_servo