move_action_capability.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit_msgs/action/move_group.hpp>
#include <memory>
 
namespace move_group
{
using MGAction = moveit_msgs::action::MoveGroup;
using MGActionGoal = rclcpp_action::ServerGoalHandle<MGAction>;
 
class MoveGroupMoveAction : public MoveGroupCapability
{
public:
  MoveGroupMoveAction();
 
  void initialize() override;
 
private:
  void executeMoveCallback(const std::shared_ptr<MGActionGoal>& goal);
  void executeMoveCallbackPlanAndExecute(const std::shared_ptr<MGActionGoal>& goal,
                                         std::shared_ptr<MGAction::Result>& action_res);
  void executeMoveCallbackPlanOnly(const std::shared_ptr<MGActionGoal>& goal,
                                   std::shared_ptr<MGAction::Result>& action_res);
 
  void startMoveExecutionCallback();
  void startMoveLookCallback();
  void preemptMoveCallback();
  void setMoveState(MoveGroupState state, const std::shared_ptr<MGActionGoal>& goal);
 
  bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest& req,
                                 plan_execution::ExecutableMotionPlan& plan);
 
  std::shared_ptr<rclcpp_action::Server<MGAction>> execute_action_server_;
 
  MoveGroupState move_state_;
  bool preempt_requested_;
  std::shared_ptr<MGActionGoal> goal_;
};
}  // namespace move_group