moveit2
The MoveIt Motion Planning Framework for ROS 2.
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global_planner_component.h
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34
35/* Author: Sebastian Jahr
36 Description: A global planner component node that is customizable through plugins.
37 */
38
39#pragma once
40
41#include <rclcpp/rclcpp.hpp>
42#include <rclcpp_action/rclcpp_action.hpp>
43
44#include <pluginlib/class_loader.hpp>
45
47
48#include <moveit_msgs/action/global_planner.hpp>
49#include <moveit_msgs/msg/motion_plan_request.hpp>
50#include <moveit_msgs/msg/motion_plan_response.hpp>
51
53{
54// Component node containing the global planner
56{
57public:
59 GlobalPlannerComponent(const rclcpp::NodeOptions& options);
60
63 {
64 // Join the thread used for long-running callbacks
65 if (long_callback_thread_.joinable())
66 {
67 long_callback_thread_.join();
68 }
69 }
70
71 // This function is required to make this class a valid NodeClass
72 // see https://docs.ros2.org/foxy/api/rclcpp_components/register__node__macro_8hpp.html
73 // Skip linting due to unconventional function naming
74 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() // NOLINT
75 {
76 return node_->get_node_base_interface(); // NOLINT
77 }
78
79private:
80 std::shared_ptr<rclcpp::Node> node_;
81
82 std::string planner_plugin_name_;
83
84 // Global planner plugin loader
85 std::unique_ptr<pluginlib::ClassLoader<GlobalPlannerInterface>> global_planner_plugin_loader_;
86
87 // Global planner instance
88 std::shared_ptr<GlobalPlannerInterface> global_planner_instance_;
89
90 // Global planning request action server
91 rclcpp_action::Server<moveit_msgs::action::GlobalPlanner>::SharedPtr global_planning_request_server_;
92
93 // Global trajectory publisher
94 rclcpp::Publisher<moveit_msgs::msg::MotionPlanResponse>::SharedPtr global_trajectory_pub_;
95
96 // Goal callback for global planning request action server
97 void globalPlanningRequestCallback(
98 const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>>& goal_handle);
99
100 // Initialize planning scene monitor and load pipelines
101 bool initializeGlobalPlanner();
102
103 // This thread is used for long-running callbacks. It's a member so they do not go out of scope.
104 std::thread long_callback_thread_;
105
106 // A unique callback group, to avoid mixing callbacks with other action servers
107 rclcpp::CallbackGroup::SharedPtr cb_group_;
108};
109
110} // namespace moveit::hybrid_planning
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()