moveit2
The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle Class Reference

#include <follow_joint_trajectory_controller_handle.h>

Inheritance diagram for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle:
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Collaboration diagram for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle:
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Public Member Functions

 FollowJointTrajectoryControllerHandle (const rclcpp::Node::SharedPtr &node, const std::string &name, const std::string &action_ns)
 
bool sendTrajectory (const moveit_msgs::msg::RobotTrajectory &trajectory) override
 Send a trajectory to the controller. More...
 
- Public Member Functions inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >
 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. More...
 
virtual void controllerDoneCallback (const typename rclcpp_action::ClientGoalHandle< control_msgs::action::FollowJointTrajectory >::WrappedResult &wrapped_result)=0
 Callback function to call when the result is received from the controller action server. More...
 
bool waitForExecution (const rclcpp::Duration &timeout=rclcpp::Duration::from_seconds(-1.0)) override
 Blocks waiting for the action result to be received. More...
 
moveit_controller_manager::ExecutionStatus getLastExecutionStatus () override
 Return the execution status of the last trajectory sent to the controller. More...
 
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. More...
 
virtual ~MoveItControllerHandle ()
 
const std::string & getName () const
 Get the name of the controller this handle can send commands to. More...
 

Protected Member Functions

void controllerDoneCallback (const rclcpp_action::ClientGoalHandle< control_msgs::action::FollowJointTrajectory >::WrappedResult &wrapped_result) override
 
- Protected Member Functions inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >
bool isConnected () const
 Check if the controller's action server is ready to receive action goals. More...
 
std::string getActionName () const
 Get the full name of the action using the action namespace and base name. More...
 
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. More...
 

Static Protected Member Functions

static control_msgs::msg::JointTolerance & getTolerance (std::vector< control_msgs::msg::JointTolerance > &tolerances, const std::string &name)
 

Protected Attributes

control_msgs::action::FollowJointTrajectory::Goal goal_template_
 
- Protected Attributes inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >
const rclcpp::Node::SharedPtr node_
 A pointer to the node, required to read parameters and get the time. More...
 
moveit_controller_manager::ExecutionStatus last_exec_
 Status after last trajectory execution. More...
 
bool done_
 Indicates whether the controller handle is done executing its current trajectory. More...
 
std::string namespace_
 The controller namespace. The controller action server's topics will map to name/ns/goal, name/ns/result, etc. More...
 
std::vector< std::string > joints_
 The joints controlled by this controller. More...
 
rclcpp_action::Client< control_msgs::action::FollowJointTrajectory >::SharedPtr controller_action_client_
 Action client to send trajectories to the controller's action server. More...
 
rclcpp_action::ClientGoalHandle< control_msgs::action::FollowJointTrajectory >::SharedPtr current_goal_
 Current goal that has been sent to the action server. More...
 
- 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

Definition at line 51 of file follow_joint_trajectory_controller_handle.h.

Constructor & Destructor Documentation

◆ FollowJointTrajectoryControllerHandle()

moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle::FollowJointTrajectoryControllerHandle ( const rclcpp::Node::SharedPtr &  node,
const std::string &  name,
const std::string &  action_ns 
)
inline

Definition at line 55 of file follow_joint_trajectory_controller_handle.h.

Member Function Documentation

◆ controllerDoneCallback()

void moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle::controllerDoneCallback ( const rclcpp_action::ClientGoalHandle< control_msgs::action::FollowJointTrajectory >::WrappedResult &  wrapped_result)
overrideprotected

◆ getTolerance()

control_msgs::msg::JointTolerance & moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle::getTolerance ( std::vector< control_msgs::msg::JointTolerance > &  tolerances,
const std::string &  name 
)
staticprotected

◆ sendTrajectory()

bool moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle::sendTrajectory ( const moveit_msgs::msg::RobotTrajectory &  trajectory)
overridevirtual

Send a trajectory to the controller.

The controller is expected to execute the trajectory, but this function call should not block. Blocking is achievable by calling waitForExecution(). Return false when the controller cannot accept the trajectory.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 44 of file follow_joint_trajectory_controller_handle.cpp.

Member Data Documentation

◆ goal_template_

control_msgs::action::FollowJointTrajectory::Goal moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle::goal_template_
protected

Definition at line 75 of file follow_joint_trajectory_controller_handle.h.


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