moveit_controller_manager_example.cpp

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/* Author: Ioan Sucan */

#include <ros/ros.h>
#include <moveit/controller_manager/controller_manager.h>
#include <sensor_msgs/JointState.h>
#include <pluginlib/class_list_macros.hpp>
#include <map>

namespace moveit_tutorials
{
class ExampleControllerHandle : public moveit_controller_manager::MoveItControllerHandle
{
public:
  ExampleControllerHandle(const std::string& name) : moveit_controller_manager::MoveItControllerHandle(name)
  {
  }

  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/, const ExecutionCompleteCallback& cb) override
  {
    // do whatever is needed to actually execute this trajectory

    // then if there is a callback, return the status of the execution. For example, signal success
    if (cb)
      cb(moveit_controller_manager::ExecutionStatus::SUCCEEDED);
    return true;
  }

  bool cancelExecution() override
  {
    // do whatever is needed to cancel execution
    return true;
  }

  bool waitForExecution(const ros::Duration& /*timeout*/) override
  {
    // wait for the current execution to finish
    return true;
  }

  moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
  {
    return moveit_controller_manager::ExecutionStatus(moveit_controller_manager::ExecutionStatus::SUCCEEDED);
  }
};

class MoveItControllerManagerExample : public moveit_controller_manager::MoveItControllerManager
{
public:
  MoveItControllerManagerExample()
  {
  }

  ~MoveItControllerManagerExample() override = default;

  moveit_controller_manager::MoveItControllerHandlePtr getControllerHandle(const std::string& name) override
  {
    return moveit_controller_manager::MoveItControllerHandlePtr(new ExampleControllerHandle(name));
  }

  /*
   * Get the list of controller names.
   */
  void getControllersList(std::vector<std::string>& names) override
  {
    names.resize(1);
    names[0] = "my_example_controller";
  }

  /*
   * This plugin assumes that all controllers are already active -- and if they are not, well, it has no way to deal
   * with it anyways!
   */
  void getActiveControllers(std::vector<std::string>& names) override
  {
    getControllersList(names);
  }

  /*
   * Controller must be loaded to be active, see comment above about active controllers...
   */
  virtual void getLoadedControllers(std::vector<std::string>& names)
  {
    getControllersList(names);
  }

  /*
   * Get the list of joints that a controller can control.
   */
  void getControllerJoints(const std::string& name, std::vector<std::string>& joints) override
  {
    joints.clear();
    if (name == "my_example_controller")
    {
      // declare which joints this controller actuates
      joints.push_back("joint1");
      joints.push_back("joint2");
      joints.push_back("joint3");
      joints.push_back("joint4");
      // ...
    }
  }

  /*
   * Controllers are all active and default.
   */
  moveit_controller_manager::MoveItControllerManager::ControllerState
  getControllerState(const std::string& /*name*/) override
  {
    moveit_controller_manager::MoveItControllerManager::ControllerState state;
    state.active_ = true;
    state.default_ = true;
    return state;
  }

  /* Cannot switch our controllers */
  bool switchControllers(const std::vector<std::string>& /*activate*/,
                         const std::vector<std::string>& /*deactivate*/) override
  {
    return false;
  }

protected:
  ros::NodeHandle node_handle_;
  std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr> controllers_;
};

}  // end namespace moveit_tutorials

PLUGINLIB_EXPORT_CLASS(moveit_tutorials::MoveItControllerManagerExample,
                       moveit_controller_manager::MoveItControllerManager);