execute_trajectory_action_capability.hpp

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/*
 * Capability of execute trajectory with a ROS action.
 *
 * Author: Kentaro Wada
 * */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit_msgs/action/execute_trajectory.hpp>
 
#include <memory>
 
namespace move_group
{
using ExecTrajectory = moveit_msgs::action::ExecuteTrajectory;
using ExecTrajectoryGoal = rclcpp_action::ServerGoalHandle<ExecTrajectory>;
 
class MoveGroupExecuteTrajectoryAction : public MoveGroupCapability
{
public:
  MoveGroupExecuteTrajectoryAction();
  ~MoveGroupExecuteTrajectoryAction() override;
 
  void initialize() override;
 
private:
  void executePathCallback(const std::shared_ptr<ExecTrajectoryGoal>& goal);
  void executePath(const std::shared_ptr<ExecTrajectoryGoal>& goal, std::shared_ptr<ExecTrajectory::Result>& action_res);
 
  void preemptExecuteTrajectoryCallback();
  void setExecuteTrajectoryState(MoveGroupState state, const std::shared_ptr<ExecTrajectoryGoal>& goal);
 
  // Use our own callback group and executor to allow execution parallel to other capabilities
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor callback_executor_;
  std::thread callback_thread_;
 
  std::shared_ptr<rclcpp_action::Server<ExecTrajectory>> execute_action_server_;
};
 
}  // namespace move_group