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. More...

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