#include <gripper_controller_handle.h>

Inheritance diagram for moveit_simple_controller_manager::GripperControllerHandle:

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Collaboration diagram for moveit_simple_controller_manager::GripperControllerHandle:

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Public Member Functions
	GripperControllerHandle (const rclcpp::Node::SharedPtr &node, const std::string &name, const std::string &ns, const double max_effort=0.0)

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

void	setCommandJoint (const std::string &name)

void	addCommandJoint (const std::string &name)

void	allowFailure (bool allow)

void	setParallelJawGripper (const std::string &left, const std::string &right)

Public Member Functions inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >
	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< control_msgs::action::GripperCommand >::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.

Additional Inherited Members
Protected Member Functions inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >
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 inherited from moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >
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< control_msgs::action::GripperCommand >::SharedPtr	controller_action_client_
	Action client to send trajectories to the controller's action server.

rclcpp_action::ClientGoalHandle< control_msgs::action::GripperCommand >::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

Definition at line 50 of file gripper_controller_handle.h.

Constructor & Destructor Documentation

◆ GripperControllerHandle()

moveit_simple_controller_manager::GripperControllerHandle::GripperControllerHandle	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	name,
		const std::string &	ns,
		const double	max_effort = `0.0`
	)

inline

Definition at line 54 of file gripper_controller_handle.h.

Member Function Documentation

◆ addCommandJoint()

void moveit_simple_controller_manager::GripperControllerHandle::addCommandJoint ( const std::string & name )

inline

Definition at line 175 of file gripper_controller_handle.h.

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◆ allowFailure()

void moveit_simple_controller_manager::GripperControllerHandle::allowFailure ( bool allow )

inline

Definition at line 180 of file gripper_controller_handle.h.

◆ sendTrajectory()

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

inlineoverridevirtual

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 64 of file gripper_controller_handle.h.

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