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Reimplemented server response-waiting functionalities inside the methods of move_group_interface #2863

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Reimplemented server response-waiting functionalities inside the methods of move_group_interface #2863

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8b34466
Reimplemented server response-waiting functionalities inside the meth…
CihatAltiparmak Jun 7, 2024
2868bdc
Merge branch 'main' into fix/move_group_interface_response_waiting_im…
sjahr Jun 17, 2024
e928b16
Merge branch 'main' into fix/move_group_interface_response_waiting_im…
CihatAltiparmak Jun 21, 2024
9586346
Make private node name inside move_group_interface anoynmous
CihatAltiparmak Jun 21, 2024
2a5c382
Removed pnode_ again and deleted unnecessary if conditions
CihatAltiparmak Jun 22, 2024
db86507
Undone the deleted comment with a little modification
CihatAltiparmak Jun 22, 2024
aac7685
Merge branch 'main' into fix/move_group_interface_response_waiting_im…
sjahr Jul 11, 2024
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109 changes: 80 additions & 29 deletions ...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -192,18 +192,22 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
unsigned int getVariableCount() const;

/** \brief Get the descriptions of all planning plugins loaded by the action server */
bool getInterfaceDescriptions(std::vector<moveit_msgs::msg::PlannerInterfaceDescription>& desc) const;
bool getInterfaceDescriptions(std::vector<moveit_msgs::msg::PlannerInterfaceDescription>& desc,
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Do you mind adding documentation for the new duration parameter? I know the current documentation doesn't do that but this is a good chance to improve that

const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1)) const;

/** \brief Get the description of the default planning plugin loaded by the action server */
bool getInterfaceDescription(moveit_msgs::msg::PlannerInterfaceDescription& desc) const;
bool getInterfaceDescription(moveit_msgs::msg::PlannerInterfaceDescription& desc,
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1)) const;

/** \brief Get the planner parameters for given group and planner_id */
std::map<std::string, std::string> getPlannerParams(const std::string& planner_id,
const std::string& group = "") const;
std::map<std::string, std::string>
getPlannerParams(const std::string& planner_id, const std::string& group = "",
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1)) const;

/** \brief Set the planner parameters for given group and planner_id */
void setPlannerParams(const std::string& planner_id, const std::string& group,
const std::map<std::string, std::string>& params, bool bReplace = false);
const std::map<std::string, std::string>& params, bool bReplace = false,
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1));

std::string getDefaultPlanningPipelineId() const;

Expand Down Expand Up @@ -690,9 +694,15 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
/**@{*/

/** \brief Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified
target.
This call is not blocking (does not wait for the execution of the trajectory to complete). */
moveit::core::MoveItErrorCode asyncMove();
* target.
* This call is not blocking (does not wait for the execution of the trajectory to complete).
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in case
* that server doesn't answer whether the request is accepted or rejected within certain period of time \param [in]
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Unfortunately, pre-commit regularly messes with the doxygen formatting. Once the PR is ready to be merged and approved you'll need to fix issues like this

* moving_timeout period of time duration for waiting server's job to finish. Function returns TIME_OUT in case that
* server's job is not finished within certain period of time
*/
moveit::core::MoveItErrorCode asyncMove(const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& moving_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Get the move_group action client used by the \e MoveGroupInterface.
The client can be used for querying the execution state of the trajectory and abort trajectory execution
Expand All @@ -701,51 +711,90 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
rclcpp_action::Client<moveit_msgs::action::MoveGroup>& getMoveGroupClient() const;

/** \brief Plan and execute a trajectory that takes the group of joints declared in the constructor to the specified
target.
This call is always blocking (waits for the execution of the trajectory to complete) and requires an asynchronous
spinner to be started.*/
moveit::core::MoveItErrorCode move();
* target.
* This call is always blocking (waits for the execution of the trajectory to complete) and requires an asynchronous
* spinner to be started.
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in case
* that server doesn't answer whether the request is accepted or rejected within certain period of time \param [in]
* moving_timeout period of time duration for waiting server's job to finish. Function returns TIME_OUT in case that
* server's job is not finished within certain period of time
*/
moveit::core::MoveItErrorCode move(const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& moving_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Compute a motion plan that takes the group declared in the constructor from the current state to the
specified
target. No execution is performed. The resulting plan is stored in \e plan*/
moveit::core::MoveItErrorCode plan(Plan& plan);
* specified
* target. No execution is performed. The resulting plan is stored in \e plan
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in case
* that server doesn't answer whether the request is accepted or rejected within certain period of time \param [in]
* planning_timeout period of time duration for waiting server's job to finish. Function returns TIME_OUT in case that
* server's job is not finished within certain period of time
*/
moveit::core::MoveItErrorCode plan(Plan& plan,
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& planning_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Given a \e plan, execute it without waiting for completion.
* \param [in] plan The motion plan for which to execute
* \param [in] controllers An optional list of ros2_controllers to execute with. If none, MoveIt will attempt to find
* a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.
* \return moveit::core::MoveItErrorCode::SUCCESS if successful
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in
* case that server doesn't answer whether the request is accepted or rejected within certain period of time \param
* [in] trajectory_execution_timeout period of time duration for waiting server's job to finish. Function returns
* TIME_OUT in case that server's job is not finished within certain period of time \return
* moveit::core::MoveItErrorCode::SUCCESS if successful
*/
moveit::core::MoveItErrorCode asyncExecute(const Plan& plan,
const std::vector<std::string>& controllers = std::vector<std::string>());
moveit::core::MoveItErrorCode
asyncExecute(const Plan& plan, const std::vector<std::string>& controllers = std::vector<std::string>(),
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& trajectory_execution_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Given a \e robot trajectory, execute it without waiting for completion.
* \param [in] trajectory The trajectory to execute
* \param [in] controllers An optional list of ros2_controllers to execute with. If none, MoveIt will attempt to find
* a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.
* \return moveit::core::MoveItErrorCode::SUCCESS if successful
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in
* case that server doesn't answer whether the request is accepted or rejected within certain period of time \param
* [in] trajectory_execution_timeout period of time duration for waiting server's job to finish. Function returns
* TIME_OUT in case that server's job is not finished within certain period of time \return
* moveit::core::MoveItErrorCode::SUCCESS if successful
*/
moveit::core::MoveItErrorCode asyncExecute(const moveit_msgs::msg::RobotTrajectory& trajectory,
const std::vector<std::string>& controllers = std::vector<std::string>());
moveit::core::MoveItErrorCode
asyncExecute(const moveit_msgs::msg::RobotTrajectory& trajectory,
const std::vector<std::string>& controllers = std::vector<std::string>(),
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& trajectory_execution_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Given a \e plan, execute it while waiting for completion.
* \param [in] plan Contains trajectory info as well as metadata such as a RobotModel.
* \param [in] controllers An optional list of ros2_controllers to execute with. If none, MoveIt will attempt to find
* a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.
* \return moveit::core::MoveItErrorCode::SUCCESS if successful
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in
* case that server doesn't answer whether the request is accepted or rejected within certain period of time \param
* [in] trajectory_execution_timeout period of time duration for waiting server's job to finish. Function returns
* TIME_OUT in case that server's job is not finished within certain period of time \return
* moveit::core::MoveItErrorCode::SUCCESS if successful
*/
moveit::core::MoveItErrorCode execute(const Plan& plan,
const std::vector<std::string>& controllers = std::vector<std::string>());
moveit::core::MoveItErrorCode
execute(const Plan& plan, const std::vector<std::string>& controllers = std::vector<std::string>(),
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& trajectory_execution_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Given a \e robot trajectory, execute it while waiting for completion.
* \param [in] trajectory The trajectory to execute
* \param [in] controllers An optional list of ros2_controllers to execute with. If none, MoveIt will attempt to find
* a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.
* \return moveit::core::MoveItErrorCode::SUCCESS if successful
* \param [in] server_timeout period of time duration for waiting server's response. Function returns TIME_OUT in
* case that server doesn't answer whether the request is accepted or rejected within certain period of time \param
* [in] trajectory_execution_timeout period of time duration for waiting server's job to finish. Function returns
* TIME_OUT in case that server's job is not finished within certain period of time \return
* moveit::core::MoveItErrorCode::SUCCESS if successful
*/
moveit::core::MoveItErrorCode execute(const moveit_msgs::msg::RobotTrajectory& trajectory,
const std::vector<std::string>& controllers = std::vector<std::string>());
moveit::core::MoveItErrorCode
execute(const moveit_msgs::msg::RobotTrajectory& trajectory,
const std::vector<std::string>& controllers = std::vector<std::string>(),
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1),
const rclcpp::Duration& trajectory_execution_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Compute a Cartesian path that follows specified waypoints with a step size of at most \e eef_step meters
between end effector configurations of consecutive points in the result \e trajectory. The reference frame for the
Expand All @@ -758,7 +807,8 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
Return -1.0 in case of error. */
double computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
double jump_threshold, moveit_msgs::msg::RobotTrajectory& trajectory,
bool avoid_collisions = true, moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr);
bool avoid_collisions = true, moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr,
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Compute a Cartesian path that follows specified waypoints with a step size of at most \e eef_step meters
between end effector configurations of consecutive points in the result \e trajectory. The reference frame for the
Expand All @@ -775,7 +825,8 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
double computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
double jump_threshold, moveit_msgs::msg::RobotTrajectory& trajectory,
const moveit_msgs::msg::Constraints& path_constraints, bool avoid_collisions = true,
moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr);
moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr,
const rclcpp::Duration& server_timeout = rclcpp::Duration::from_seconds(-1));

/** \brief Stop any trajectory execution, if one is active */
void stop();
Expand Down
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