moveit_studio::behaviors::StandardTrajectoryExecutor Class Reference

Standard trajectory execution (e.g. JTC) pipeline implementation. More...

#include <execute_mtc_solution.hpp>

Inheritance diagram for moveit_studio::behaviors::StandardTrajectoryExecutor:

Collaboration diagram for moveit_studio::behaviors::StandardTrajectoryExecutor:

Public Types
using	ActionType = control_msgs::action::FollowJointTrajectory
Public Types inherited from moveit_studio::behaviors::BaseTrajectoryExecutor< control_msgs::action::FollowJointTrajectory >
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle< control_msgs::action::FollowJointTrajectory >
using	ActionClient = rclcpp_action::Client< control_msgs::action::FollowJointTrajectory >

Public Member Functions
	StandardTrajectoryExecutor (rclcpp::Node::SharedPtr node, rclcpp::CallbackGroup::SharedPtr callback_group)
	Constructor for StandardTrajectoryExecutor.
tl::expected< bool, std::string >	initialize (const std::string &action_name) override
	Initialize the trajectory execution pipeline.
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) override
	Execute a trajectory with the given parameters.
tl::expected< void, std::string >	cancelExecution () override
	Cancel the currently active trajectory execution.
Public Member Functions inherited from moveit_studio::behaviors::BaseTrajectoryExecutor< control_msgs::action::FollowJointTrajectory >
	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

Protected Member Functions
std::string	extractErrorMessage (const ActionType::Result::SharedPtr &result) const override

Additional Inherited Members
Public Attributes inherited from moveit_studio::behaviors::BaseTrajectoryExecutor< control_msgs::action::FollowJointTrajectory >
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 inherited from moveit_studio::behaviors::BaseTrajectoryExecutor< control_msgs::action::FollowJointTrajectory >
static constexpr std::chrono::seconds	kWaitForServerTimeout
static constexpr std::chrono::seconds	kGoalRequestTimeout
static constexpr std::chrono::seconds	kCancelRequestTimeout

Detailed Description

Standard trajectory execution (e.g. JTC) pipeline implementation.

Member Typedef Documentation

ActionType

using moveit_studio::behaviors::StandardTrajectoryExecutor::ActionType = control_msgs::action::FollowJointTrajectory

Constructor & Destructor Documentation

StandardTrajectoryExecutor()

moveit_studio::behaviors::StandardTrajectoryExecutor::StandardTrajectoryExecutor ( rclcpp::Node::SharedPtr  node, rclcpp::CallbackGroup::SharedPtr  callback_group  )

explicit

Constructor for StandardTrajectoryExecutor.

Parameters

node	ROS node for creating action client
callback_group	Callback group for action client operations

Member Function Documentation

cancelExecution()

tl::expected< void, std::string > moveit_studio::behaviors::StandardTrajectoryExecutor::cancelExecution ( )

overridevirtual

Cancel the currently active trajectory execution.

Returns

Success/failure with error message.

Implements moveit_studio::behaviors::TrajectoryExecutionPipeline.

executeTrajectory()

tl::expected< bool, std::string > moveit_studio::behaviors::StandardTrajectoryExecutor::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  )

overridevirtual

Execute a trajectory with the given parameters.

Parameters

joint_trajectory	The joint trajectory to execute.
admittance_params	Admittance control parameters (may be ignored by non-JTAC implementations).
goal_tolerance	Optional goal position tolerance.
path_tolerance	Optional path position tolerance.
absolute_force_torque_threshold	Optional force/torque limits (JTAC-specific).
goal_duration_tolerance_seconds	Timeout in seconds (negative means wait indefinitely).
index	Sub-trajectory index for error reporting.

Returns

Success/failure with error message

Implements moveit_studio::behaviors::TrajectoryExecutionPipeline.

extractErrorMessage()

std::string moveit_studio::behaviors::StandardTrajectoryExecutor::extractErrorMessage ( const ActionType::Result::SharedPtr &  result ) const

overrideprotected

initialize()

tl::expected< bool, std::string > moveit_studio::behaviors::StandardTrajectoryExecutor::initialize ( const std::string &  action_name )

overridevirtual

Initialize the trajectory execution pipeline.

Parameters

action_name

Name of the trajectory action server

Returns

Success/failure with error message

Implements moveit_studio::behaviors::TrajectoryExecutionPipeline.

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The documentation for this class was generated from the following files:

• execute_mtc_solution.hpp
• execute_mtc_solution.cpp