Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of execution_pipeline. After each subtrajectory succeeds, apply the corresponding planning scene diff so that scene updates from the MTC task persist. More...
Declaration
class moveit_pro::behaviors::ExecuteMTCSolution { ... }
#include <execute_mtc_solution.hpp>
Base class
| class | AsyncBehaviorBase |
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A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...
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Public Member Typedefs Index
| using | ServiceClient = rclcpp::Client< moveit_msgs::srv::ApplyPlanningScene > |
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Public Constructors Index
| ExecuteMTCSolution (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
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Public Member Functions Index
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
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Gets the shared future which is used to monitor the progress of the async process. More...
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Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
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User-implemented function which handles executing the potentially-long-running process. More...
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| tl::expected< void, std::string > | doHalt () override |
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Optionally implement additional work needed to cleanly interrupt the async process. More...
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| tl::expected< bool, std::string > | initializePlanningSceneServiceClient (const std::string &service_name) |
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| tl::expected< bool, std::string > | applyPlanningScene (const moveit_msgs::msg::PlanningScene &scene_diff) const |
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| tl::expected< bool, std::string > | executeSubTrajectory (const moveit_task_constructor_msgs::msg::SubTrajectory &sub_trajectory, std::size_t index, const std::optional< moveit_pro_controllers_msgs::msg::AdmittanceParameters > &admittance_params, const std::optional< double > &goal_tolerance, const std::optional< double > &path_tolerance, const std::optional< std::vector< double > > &absolute_force_torque_threshold, double goal_duration_tolerance_seconds) |
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Private Member Attributes Index
Public Static Functions Index
Private Static Attributes Index
Description
Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of execution_pipeline. After each subtrajectory succeeds, apply the corresponding planning scene diff so that scene updates from the MTC task persist.
This behavior is useful when Motion Task Constructor stages rely on planning scene changes such as attaching or detaching collision objects and the execution pipeline must run through a compliant controller, or just a standard JTC-like controller.
The behavior processes each sub-trajectory in the MTC solution sequentially, sending them to the controller and applying any associated planning scene changes after successful execution.
| Data Port Name | Port Type | Object Type |
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| solution | input | moveit_task_constructor_msgs::msg::Solution |
| admittance_parameters_msg | input | moveit_pro_controllers_msgs::msg::AdmittanceParameters |
| controller_action_name | input | std::string |
| goal_position_tolerance | input | double |
| path_position_tolerance | input | double |
| absolute_force_torque_threshold | input | std::vector<double> |
| goal_duration_tolerance | input | double |
| apply_planning_scene_service | input | std::string |
| apply_start_scene | input | bool |
Definition at line 61 of file execute_mtc_solution.hpp.
Public Member Typedefs
ServiceClient
| using moveit_pro::behaviors::ExecuteMTCSolution::ServiceClient = rclcpp::Client<moveit_msgs::srv::ApplyPlanningScene> |
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Public Constructors
ExecuteMTCSolution()
| moveit_pro::behaviors::ExecuteMTCSolution::ExecuteMTCSolution (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources) |
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Public Member Functions
getFuture()
| std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::ExecuteMTCSolution::getFuture () |
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virtual
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Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Declaration at line 73 of file execute_mtc_solution.hpp, definition at line 76 of file execute_mtc_solution.cpp.
Private Member Functions
applyPlanningScene()
| tl::expected< bool, std::string > moveit_pro::behaviors::ExecuteMTCSolution::applyPlanningScene (const moveit_msgs::msg::PlanningScene & scene_diff) |
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doHalt()
| tl::expected< void, std::string > moveit_pro::behaviors::ExecuteMTCSolution::doHalt () |
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virtual
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Optionally implement additional work needed to cleanly interrupt the async process.
The default implementation of this function is a no-op which will not interrupt the async process. This will mean that onHalted will wait until the process finishes before returning.
- Returns
Return an empty tl::expected<void, std::string> if the additional work to halt was successful. Return an error message if something failed while doing additional work to halt.
Declaration at line 78 of file execute_mtc_solution.hpp, definition at line 173 of file execute_mtc_solution.cpp.
doWork()
| tl::expected< bool, std::string > moveit_pro::behaviors::ExecuteMTCSolution::doWork () |
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virtual
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User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 76 of file execute_mtc_solution.hpp, definition at line 81 of file execute_mtc_solution.cpp.
executeSubTrajectory()
| tl::expected< bool, std::string > moveit_pro::behaviors::ExecuteMTCSolution::executeSubTrajectory (const moveit_task_constructor_msgs::msg::SubTrajectory & sub_trajectory, std::size_t index, const std::optional< moveit_pro_controllers_msgs::msg::AdmittanceParameters > & admittance_params, const std::optional< double > & goal_tolerance, const std::optional< double > & path_tolerance, const std::optional< std::vector< double > > & absolute_force_torque_threshold, double goal_duration_tolerance_seconds) |
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initializePlanningSceneServiceClient()
| tl::expected< bool, std::string > moveit_pro::behaviors::ExecuteMTCSolution::initializePlanningSceneServiceClient (const std::string & service_name) |
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Private Member Attributes
current_service_name_
| std::string moveit_pro::behaviors::ExecuteMTCSolution::current_service_name_ |
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future_
| std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::ExecuteMTCSolution::future_ |
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goal_active_
| bool moveit_pro::behaviors::ExecuteMTCSolution::goal_active_ = false |
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goal_mutex_
| std::mutex moveit_pro::behaviors::ExecuteMTCSolution::goal_mutex_ |
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halt_requested_
| std::atomic<bool> moveit_pro::behaviors::ExecuteMTCSolution::halt_requested_ = false |
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service_client_
| ServiceClient::SharedPtr moveit_pro::behaviors::ExecuteMTCSolution::service_client_ |
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trajectory_executor_
| std::unique_ptr<TrajectoryExecutionPipeline> moveit_pro::behaviors::ExecuteMTCSolution::trajectory_executor_ |
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Public Static Functions
metadata()
| BT::KeyValueVector moveit_pro::behaviors::ExecuteMTCSolution::metadata () |
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static
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providedPorts()
| BT::PortsList moveit_pro::behaviors::ExecuteMTCSolution::providedPorts () |
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static
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Private Static Attributes
kDescriptionExecuteMTCSolution
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kDescriptionExecuteMTCSolution |
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constexpr
static
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- Initialiser
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= R"(
<p>Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like
controller, depending on the value of `execution_pipeline`. After each subtrajectory succeeds, apply the
corresponding planning scene diff so that scene updates from the MTC task persist.</p>
)"
Definition at line 80 of file execute_mtc_solution.hpp.
kPortAbsoluteForceTorqueThreshold
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortAbsoluteForceTorqueThreshold = "absolute_force_torque_threshold" |
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constexpr
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kPortAdmittanceParameters
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortAdmittanceParameters = "admittance_parameters_msg" |
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constexpr
static
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kPortApplyPlanningSceneService
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortApplyPlanningSceneService = "apply_planning_scene_service" |
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constexpr
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kPortApplyStartScene
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortApplyStartScene = "apply_start_scene" |
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constexpr
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kPortControllerActionName
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortControllerActionName = "controller_action_name" |
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constexpr
static
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kPortExecutionPipeline
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortExecutionPipeline = "execution_pipeline" |
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constexpr
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kPortGoalDurationTolerance
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortGoalDurationTolerance = "goal_duration_tolerance" |
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constexpr
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kPortGoalPositionTolerance
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortGoalPositionTolerance = "goal_position_tolerance" |
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constexpr
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kPortPathPositionTolerance
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortPathPositionTolerance = "path_position_tolerance" |
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constexpr
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kPortSolution
| constexpr auto moveit_pro::behaviors::ExecuteMTCSolution::kPortSolution = "solution" |
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constexpr
static
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kServiceCallTimeout
| constexpr std::chrono::seconds moveit_pro::behaviors::ExecuteMTCSolution::kServiceCallTimeout { 2 } |
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constexpr
static
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The documentation for this class was generated from the following files:
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