test_moveit_controller_manager.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/controller_manager/controller_manager.h>
#include <iostream>
#include <map>
 
namespace test_moveit_controller_manager
{
class TestMoveItControllerHandle : public moveit_controller_manager::MoveItControllerHandle
{
public:
  TestMoveItControllerHandle(const std::string& name) : MoveItControllerHandle(name)
  {
  }
 
  bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& /*trajectory*/) override
  {
    return true;
  }
 
  bool cancelExecution() override
  {
    return true;
  }
 
  bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(0.0)) override
  {
    (void)timeout;
    return false;
  }
 
  moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
  {
    return moveit_controller_manager::ExecutionStatus::SUCCEEDED;
  }
};
 
class TestRos2ControlManager : public moveit_controller_manager::Ros2ControlManager
{
public:
  static const int ACTIVE = 1;
  static const int DEFAULT = 2;
 
  TestRos2ControlManager()
  {
    controllers_["right_arm"] = DEFAULT;
    controllers_["left_arm"] = ACTIVE + DEFAULT;
    controllers_["arms"] = 0;
    controllers_["base"] = DEFAULT;
    controllers_["head"] = 0;
    controllers_["left_arm_head"] = 0;
 
    controller_joints_["right_arm"].push_back("rj1");
    controller_joints_["right_arm"].push_back("rj2");
 
    controller_joints_["left_arm"].push_back("lj1");
    controller_joints_["left_arm"].push_back("lj2");
    controller_joints_["left_arm"].push_back("lj3");
 
    controller_joints_["arms"].insert(controller_joints_["arms"].end(), controller_joints_["left_arm"].begin(),
                                      controller_joints_["left_arm"].end());
    controller_joints_["arms"].insert(controller_joints_["arms"].end(), controller_joints_["right_arm"].begin(),
                                      controller_joints_["right_arm"].end());
 
    controller_joints_["base"].push_back("basej");
    controller_joints_["head"].push_back("headj");
 
    controller_joints_["left_arm_head"].insert(controller_joints_["left_arm_head"].end(),
                                               controller_joints_["left_arm"].begin(),
                                               controller_joints_["left_arm"].end());
    controller_joints_["left_arm_head"].insert(controller_joints_["left_arm_head"].end(),
                                               controller_joints_["head"].begin(), controller_joints_["head"].end());
  }
 
  void initialize(const rclcpp::Node::SharedPtr& /* node */) override
  {
  }
 
  moveit_controller_manager::MoveItControllerHandlePtr getControllerHandle(const std::string& name) override
  {
    return std::make_shared<TestMoveItControllerHandle>(name);
  }
 
  void getControllersList(std::vector<std::string>& names) override
  {
    names.clear();
    for (std::map<std::string, int>::const_iterator it = controllers_.begin(); it != controllers_.end(); ++it)
      names.push_back(it->first);
  }
 
  void getActiveControllers(std::vector<std::string>& names) override
  {
    names.clear();
    for (std::map<std::string, int>::const_iterator it = controllers_.begin(); it != controllers_.end(); ++it)
      if (it->second & ACTIVE)
        names.push_back(it->first);
  }
 
  void getControllerJoints(const std::string& name, std::vector<std::string>& joints) override
  {
    joints = controller_joints_[name];
  }
 
  moveit_controller_manager::Ros2ControlManager::ControllerState getControllerState(const std::string& name) override
  {
    moveit_controller_manager::Ros2ControlManager::ControllerState state;
    state.active_ = controllers_[name] & ACTIVE;
    state.default_ = false;
    return state;
  }
 
  bool switchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate) override
  {
    for (const std::string& controller : deactivate)
    {
      controllers_[controller] &= ~ACTIVE;
      std::cout << "Deactivated controller " << controller << '\n';
    }
    for (const std::string& controller : activate)
    {
      controllers_[controller] |= ACTIVE;
      std::cout << "Activated controller " << controller << '\n';
    }
    return true;
  }
 
protected:
  std::map<std::string, int> controllers_;
  std::map<std::string, std::vector<std::string> > controller_joints_;
};
}  // namespace test_moveit_controller_manager