empty_controller_handle.hpp

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/* Author: Paul Gesel */
 
#pragma once
 
#include <moveit_ros_control_interface/ControllerHandle.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace moveit_simple_controller_manager
{
/*
 * An interface for controllers that have no handle, e.g. chained controllers like an Admittance controller
 */
class EmptyControllerHandle : public moveit_controller_manager::MoveItControllerHandle
{
public:
  /* Topics will map to name/ns/goal, name/ns/result, etc */
  EmptyControllerHandle(const std::string& name, const std::string& logger_name)
    : moveit_controller_manager::MoveItControllerHandle(name), logger_(rclcpp::get_logger(logger_name))
  {
  }
 
  bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override
  {
    RCLCPP_ERROR_STREAM(logger_, "This controller handle does not support trajectory execution.");
    return false;
  }
 
  bool cancelExecution() override
  {
    return true;
  }
 
  bool waitForExecution(const rclcpp::Duration& /* timeout */) override
  {
    return true;
  }
 
  moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
  {
    return moveit_controller_manager::ExecutionStatus::FAILED;
  }
 
private:
  const rclcpp::Logger logger_;
};
 
}  // end namespace moveit_simple_controller_manager