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@rhaschke @mikeferguson @davetcoleman @de-vri-es @isucan @v4hn @jonbinney @jeasinema
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Unbounded Robotics Inc.
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
#pragma once
#include <actionlib/client/simple_action_client.h>
#include <moveit/controller_manager/controller_manager.h>
#include <moveit/macros/class_forward.h>
#include <memory>
namespace moveit_simple_controller_manager
{
/*
* This exist solely to inject addJoint/getJoints into base non-templated class.
*/
class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle
{
public:
ActionBasedControllerHandleBase(const std::string& name) : moveit_controller_manager::MoveItControllerHandle(name)
{
}
virtual void addJoint(const std::string& name) = 0;
virtual void getJoints(std::vector<std::string>& joints) = 0;
virtual void configure(XmlRpc::XmlRpcValue& config)
{
}
};
MOVEIT_CLASS_FORWARD(ActionBasedControllerHandleBase);
/*
* This is a simple base class, which handles all of the action creation/etc
*/
template <typename T>
class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
{
public:
ActionBasedControllerHandle(const std::string& name, const std::string& ns)
: ActionBasedControllerHandleBase(name), nh_("~"), done_(true), namespace_(ns)
{
controller_action_client_.reset(new actionlib::SimpleActionClient<T>(getActionName(), true));
unsigned int attempts = 0;
double timeout;
nh_.param("trajectory_execution/controller_connection_timeout", timeout, 15.0);
if (timeout == 0.0)
{
while (ros::ok() && !controller_action_client_->waitForServer(ros::Duration(5.0)))
{
ROS_WARN_STREAM_NAMED("ActionBasedController", "Waiting for " << getActionName() << " to come up");
ros::Duration(1).sleep();
}
}
else
{
while (ros::ok() && !controller_action_client_->waitForServer(ros::Duration(timeout / 3)) && ++attempts < 3)
{
ROS_WARN_STREAM_NAMED("ActionBasedController", "Waiting for " << getActionName() << " to come up");
ros::Duration(1).sleep();
}
}
if (!controller_action_client_->isServerConnected())
{
ROS_ERROR_STREAM_NAMED("ActionBasedController", "Action client not connected: " << getActionName());
controller_action_client_.reset();
}
last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
}
bool isConnected() const
{
return static_cast<bool>(controller_action_client_);
}
bool cancelExecution() override
{
if (!controller_action_client_)
return false;
if (!done_)
{
ROS_INFO_STREAM_NAMED("ActionBasedController", "Cancelling execution for " << name_);
controller_action_client_->cancelGoal();
last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
done_ = true;
}
return true;
}
bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) override
{
if (controller_action_client_ && !done_)
return controller_action_client_->waitForResult(timeout);
return true;
}
moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
{
return last_exec_;
}
void addJoint(const std::string& name) override
{
joints_.push_back(name);
}
void getJoints(std::vector<std::string>& joints) override
{
joints = joints_;
}
protected:
ros::NodeHandle nh_;
std::string getActionName(void) const
{
if (namespace_.empty())
return name_;
else
return name_ + "/" + namespace_;
}
void finishControllerExecution(const actionlib::SimpleClientGoalState& state)
{
ROS_DEBUG_STREAM_NAMED("ActionBasedController", "Controller " << name_ << " is done with state " << state.toString()
<< ": " << state.getText());
if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
else if (state == actionlib::SimpleClientGoalState::ABORTED)
last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED;
else if (state == actionlib::SimpleClientGoalState::PREEMPTED)
last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
else
last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED;
done_ = true;
}
/* execution status */
moveit_controller_manager::ExecutionStatus last_exec_;
bool done_;
/* the controller namespace, for instance, topics will map to name/ns/goal,
* name/ns/result, etc */
std::string namespace_;
/* the joints controlled by this controller */
std::vector<std::string> joints_;
/* action client */
std::shared_ptr<actionlib::SimpleActionClient<T> > controller_action_client_;
};
} // end namespace moveit_simple_controller_manager
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