Base class for controller handles that interact with a controller through a ROS action server. More...

#include <action_based_controller_handle.h>

Inheritance diagram for moveit_simple_controller_manager::ActionBasedControllerHandle< T >:

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Public Member Functions
	ActionBasedControllerHandle (const rclcpp::Node::SharedPtr &node, const std::string &name, const std::string &ns, const std::string &logger_name)

bool	cancelExecution () override
	Cancels trajectory execution by triggering the controller action server's cancellation callback.

virtual void	controllerDoneCallback (const typename rclcpp_action::ClientGoalHandle< T >::WrappedResult &wrapped_result)=0
	Callback function to call when the result is received from the controller action server.

bool	waitForExecution (const rclcpp::Duration &timeout=rclcpp::Duration::from_seconds(-1.0)) override
	Blocks waiting for the action result to be received.

moveit_controller_manager::ExecutionStatus	getLastExecutionStatus () override
	Return the execution status of the last trajectory sent to the controller.

void	addJoint (const std::string &name) override

void	getJoints (std::vector< std::string > &joints) override

Public Member Functions inherited from moveit_simple_controller_manager::ActionBasedControllerHandleBase
	ActionBasedControllerHandleBase (const std::string &name, const std::string &logger_name)

Public Member Functions inherited from moveit_controller_manager::MoveItControllerHandle
	MoveItControllerHandle (const std::string &name)
	Each controller has a name. The handle is initialized with that name.

virtual	~MoveItControllerHandle ()

const std::string &	getName () const
	Get the name of the controller this handle can send commands to.

virtual bool	sendTrajectory (const moveit_msgs::msg::RobotTrajectory &trajectory)=0
	Send a trajectory to the controller.

Protected Member Functions
bool	isConnected () const
	Check if the controller's action server is ready to receive action goals.

std::string	getActionName () const
	Get the full name of the action using the action namespace and base name.

void	finishControllerExecution (const rclcpp_action::ResultCode &state)
	Indicate that the controller handle is done executing the trajectory and set the controller manager handle's ExecutionStatus based on the received action ResultCode.

Protected Attributes
const rclcpp::Node::SharedPtr	node_
	A pointer to the node, required to read parameters and get the time.

moveit_controller_manager::ExecutionStatus	last_exec_
	Status after last trajectory execution.

bool	done_
	Indicates whether the controller handle is done executing its current trajectory.

std::string	namespace_
	The controller namespace. The controller action server's topics will map to name/ns/goal, name/ns/result, etc.

std::vector< std::string >	joints_
	The joints controlled by this controller.

rclcpp_action::Client< T >::SharedPtr	controller_action_client_
	Action client to send trajectories to the controller's action server.

rclcpp_action::ClientGoalHandle< T >::SharedPtr	current_goal_
	Current goal that has been sent to the action server.

Protected Attributes inherited from moveit_simple_controller_manager::ActionBasedControllerHandleBase
const rclcpp::Logger	logger_

Protected Attributes inherited from moveit_controller_manager::MoveItControllerHandle
std::string	name_

Detailed Description

template<typename T>
class moveit_simple_controller_manager::ActionBasedControllerHandle< T >

Base class for controller handles that interact with a controller through a ROS action server.

Definition at line 79 of file action_based_controller_handle.h.

Constructor & Destructor Documentation

◆ ActionBasedControllerHandle()

template<typename T >

moveit_simple_controller_manager::ActionBasedControllerHandle< T >::ActionBasedControllerHandle	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	name,
		const std::string &	ns,
		const std::string &	logger_name
	)

inline

Definition at line 82 of file action_based_controller_handle.h.

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Member Function Documentation

◆ addJoint()

template<typename T >

void moveit_simple_controller_manager::ActionBasedControllerHandle< T >::addJoint ( const std::string & name )

inlineoverridevirtual

Implements moveit_simple_controller_manager::ActionBasedControllerHandleBase.

Definition at line 175 of file action_based_controller_handle.h.

◆ cancelExecution()

template<typename T >

bool moveit_simple_controller_manager::ActionBasedControllerHandle< T >::cancelExecution ( )

inlineoverridevirtual

Cancels trajectory execution by triggering the controller action server's cancellation callback.

Returns: True if cancellation was accepted, false if cancellation failed.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 96 of file action_based_controller_handle.h.

◆ controllerDoneCallback()

template<typename T >

virtual void moveit_simple_controller_manager::ActionBasedControllerHandle< T >::controllerDoneCallback ( const typename rclcpp_action::ClientGoalHandle< T >::WrappedResult & wrapped_result )

pure virtual

Callback function to call when the result is received from the controller action server.

Parameters

wrapped_result

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◆ finishControllerExecution()

template<typename T >

void moveit_simple_controller_manager::ActionBasedControllerHandle< T >::finishControllerExecution ( const rclcpp_action::ResultCode & state )

inlineprotected

Indicate that the controller handle is done executing the trajectory and set the controller manager handle's ExecutionStatus based on the received action ResultCode.

Parameters

rclcpp_action::ResultCode to convert to moveit_controller_manager::ExecutionStatus.

Definition at line 221 of file action_based_controller_handle.h.

◆ getActionName()

template<typename T >

std::string moveit_simple_controller_manager::ActionBasedControllerHandle< T >::getActionName ( ) const

inlineprotected

Get the full name of the action using the action namespace and base name.

Returns: The action name.

Definition at line 204 of file action_based_controller_handle.h.

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◆ getJoints()

template<typename T >

void moveit_simple_controller_manager::ActionBasedControllerHandle< T >::getJoints ( std::vector< std::string > & joints )

inlineoverridevirtual

Implements moveit_simple_controller_manager::ActionBasedControllerHandleBase.

Definition at line 180 of file action_based_controller_handle.h.

◆ getLastExecutionStatus()

template<typename T >

moveit_controller_manager::ExecutionStatus moveit_simple_controller_manager::ActionBasedControllerHandle< T >::getLastExecutionStatus ( )

inlineoverridevirtual

Return the execution status of the last trajectory sent to the controller.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 170 of file action_based_controller_handle.h.

◆ isConnected()

template<typename T >

bool moveit_simple_controller_manager::ActionBasedControllerHandle< T >::isConnected ( ) const

inlineprotected

Check if the controller's action server is ready to receive action goals.

Returns: True if the action server is ready, false if it is not ready or does not exist.

Definition at line 195 of file action_based_controller_handle.h.

◆ waitForExecution()

template<typename T >

bool moveit_simple_controller_manager::ActionBasedControllerHandle< T >::waitForExecution ( const rclcpp::Duration & timeout = rclcpp::Duration::from_seconds(-1.0) )

inlineoverridevirtual

Blocks waiting for the action result to be received.

Parameters

timeout Duration to wait for a result before failing. Default value indicates no timeout.

Returns: True if a result was received, false on timeout.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 127 of file action_based_controller_handle.h.

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Definition at line 189 of file action_based_controller_handle.h.

The documentation for this class was generated from the following file:

moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ActionBasedControllerHandle()

Member Function Documentation

◆ addJoint()

◆ cancelExecution()

◆ controllerDoneCallback()

◆ finishControllerExecution()

◆ getActionName()

◆ getJoints()

◆ getLastExecutionStatus()

◆ isConnected()

◆ waitForExecution()

Member Data Documentation

◆ controller_action_client_

◆ current_goal_

◆ done_

◆ joints_

◆ last_exec_

◆ namespace_

◆ node_