execute_mtc_solution.hpp File

Included Headers

#include <atomic> #include <chrono> #include <future> #include <memory> #include <mutex> #include <optional> #include <string> #include <vector> #include <behaviortree_cpp/bt_factory.h> #include <fmt/format.h> #include <control_msgs/action/follow_joint_trajectory.hpp> #include <moveit_msgs/msg/planning_scene.hpp> #include <moveit_msgs/srv/apply_planning_scene.hpp> #include <moveit_task_constructor_msgs/msg/solution.hpp> #include <rclcpp_action/rclcpp_action.hpp> #include <tl/expected.hpp> #include <trajectory_msgs/msg/joint_trajectory.hpp> #include "moveit_pro_behavior/utils/trajectory_execution_pipeline.hpp" #include "moveit_pro_behavior_interface/async_behavior_base.hpp" #include "moveit_pro_controllers_msgs/action/follow_joint_trajectory_with_admittance.hpp" #include "moveit_pro_controllers_msgs/msg/admittance_parameters.hpp"

Namespaces Index

namespace	moveit_pro
namespace	behaviors

Classes Index

class	ExecuteMTCSolution
	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. The Behavior skips the solution's link padding and scale, so the live planning scene keeps its own. More...

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