execute_mtc_solution.hpp File Reference

#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/expected.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include "moveit_pro_controllers_msgs/action/follow_joint_trajectory_with_admittance.hpp"
#include "moveit_pro_controllers_msgs/msg/admittance_parameters.hpp"
#include "moveit_studio_behavior_interface/async_behavior_base.hpp"

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Classes
class	moveit_studio::behaviors::TrajectoryExecutionPipeline
	Abstract interface for trajectory execution pipelines. More...
class	moveit_studio::behaviors::BaseTrajectoryExecutor< ActionType >
	Base class for trajectory execution implementations. More...
class	moveit_studio::behaviors::JTACTrajectoryExecutor
	JTAC-specific trajectory execution pipeline implementation. More...
class	moveit_studio::behaviors::StandardTrajectoryExecutor
	Standard trajectory execution (e.g. JTC) pipeline implementation. More...
class	moveit_studio::behaviors::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...

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors