follow_joint_trajectory_controller_handle.hpp

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/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
 
#pragma once
 
#include <moveit_simple_controller_manager/action_based_controller_handle.hpp>
#include <control_msgs/action/follow_joint_trajectory.hpp>
#include <control_msgs/msg/joint_tolerance.hpp>
#include <functional>
 
namespace moveit_simple_controller_manager
{
/*
 * This is generally used for arms, but could also be used for multi-dof hands,
 * or anything using a control_mgs/FollowJointTrajectoryAction.
 */
class FollowJointTrajectoryControllerHandle
  : public ActionBasedControllerHandle<control_msgs::action::FollowJointTrajectory>
{
public:
  FollowJointTrajectoryControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name,
                                        const std::string& action_ns)
    : ActionBasedControllerHandle<control_msgs::action::FollowJointTrajectory>(
          node, name, action_ns, "moveit.simple_controller_manager.follow_joint_trajectory_controller_handle")
  {
  }
 
  bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override;
 
  // TODO(JafarAbdi): Revise parameter lookup
  // void configure(XmlRpc::XmlRpcValue& config) override;
 
protected:
  static control_msgs::msg::JointTolerance& getTolerance(std::vector<control_msgs::msg::JointTolerance>& tolerances,
                                                         const std::string& name);
 
  void controllerDoneCallback(
      const rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::WrappedResult& wrapped_result)
      override;
 
  control_msgs::action::FollowJointTrajectory::Goal goal_template_;
};
 
}  // end namespace moveit_simple_controller_manager