Base class for trajectory execution implementations. More...

#include <execute_mtc_solution.hpp>

Inheritance diagram for moveit_studio::behaviors::BaseTrajectoryExecutor< ActionType >:

Collaboration diagram for moveit_studio::behaviors::BaseTrajectoryExecutor< ActionType >:

Public Types
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< ActionType >

using	ActionClient = rclcpp_action::Client< ActionType >

Public Member Functions
	BaseTrajectoryExecutor (rclcpp::Node::SharedPtr node, rclcpp::CallbackGroup::SharedPtr callback_group)

tl::expected< bool, std::string >	initializeActionClient (const std::string &action_name, const std::string &server_description)
	Common action client initialization logic.

tl::expected< typename ClientGoalHandle::SharedPtr, std::string >	sendGoal (const typename ActionType::Goal &goal, std::size_t trajectory_index)
	Common goal sending logic.

tl::expected< bool, std::string >	waitForResult (typename ClientGoalHandle::SharedPtr goal_handle, double goal_duration_tolerance_seconds, std::size_t trajectory_index)
	Common result waiting logic.

tl::expected< void, std::string >	cancelActiveGoal ()

virtual std::string	extractErrorMessage (const typename ActionType::Result::SharedPtr &result) const =0
	Derived classes implement this to extract error messages from the action result.

Public Member Functions inherited from moveit_studio::behaviors::TrajectoryExecutionPipeline
virtual	~TrajectoryExecutionPipeline ()=default

virtual tl::expected< bool, std::string >	initialize (const std::string &action_name)=0
	Initialize the trajectory execution pipeline.

virtual tl::expected< bool, std::string >	executeTrajectory (const trajectory_msgs::msg::JointTrajectory &joint_trajectory, 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, std::size_t index)=0
	Execute a trajectory with the given parameters.

virtual tl::expected< void, std::string >	cancelExecution ()=0
	Cancel the currently active trajectory execution.

Public Attributes
rclcpp::Node::SharedPtr	node_

rclcpp::CallbackGroup::SharedPtr	callback_group_

ActionClient::SharedPtr	action_client_

ClientGoalHandle::SharedPtr	active_goal_handle_

std::string	current_action_name_

std::mutex	goal_mutex_

Static Public Attributes
static constexpr std::chrono::seconds	kWaitForServerTimeout { 2 }

static constexpr std::chrono::seconds	kGoalRequestTimeout { 2 }

static constexpr std::chrono::seconds	kCancelRequestTimeout { 5 }

Detailed Description

template<typename ActionType>
class moveit_studio::behaviors::BaseTrajectoryExecutor< ActionType >

Base class for trajectory execution implementations.

Factors out common functionality shared between different trajectory executor types, e.g. initialize the action client, sending a goal, waiting for a result, etc. Templated on the action type, e.g. FollowJointTrajectory (JTC) vs. FollowJointTrajectoryWithAdmittance (JTAC).