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Add feedback to ExecuteTaskSolution action #652

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Add feedback to ExecuteTaskSolution action #652

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874d91d
Add feedback to ExecuteTaskSolution action
DaniGarciaLopez Feb 5, 2025
990b00b
Fix formatting
DaniGarciaLopez Feb 5, 2025
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43 changes: 32 additions & 11 deletions capabilities/src/execute_task_solution_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,7 @@ void ExecuteTaskSolutionCapability::initialize() {
void ExecuteTaskSolutionCapability::execCallback(
const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle) {
auto result = std::make_shared<moveit_task_constructor_msgs::action::ExecuteTaskSolution::Result>();
auto feedback = std::make_shared<moveit_task_constructor_msgs::action::ExecuteTaskSolution::Feedback>();

const auto& goal = goal_handle->get_goal();
if (!context_->plan_execution_) {
Expand All @@ -111,19 +112,39 @@ void ExecuteTaskSolutionCapability::execCallback(
}

plan_execution::ExecutableMotionPlan plan;
if (!constructMotionPlan(goal->solution, plan))
if (!constructMotionPlan(goal->solution, plan)) {
result->error_code.val = moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN;
else {
RCLCPP_INFO(LOGGER, "Executing TaskSolution");
result->error_code = context_->plan_execution_->executeAndMonitor(plan);
goal_handle->abort(result);
return;
}

if (result->error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
goal_handle->succeed(result);
else if (result->error_code.val == moveit_msgs::msg::MoveItErrorCodes::PREEMPTED && goal_handle->is_canceling())
goal_handle->canceled(result);
else
goal_handle->abort(result);
RCLCPP_INFO(LOGGER, "Executing TaskSolution");

// iterate over the subtrajectories and execute them one by one
for (size_t i = 0; i < plan.plan_components.size(); ++i) {
plan_execution::ExecutableMotionPlan sub_plan;
sub_plan.plan_components = { plan.plan_components[i] };

const auto exec_result = context_->plan_execution_->executeAndMonitor(sub_plan);
if (exec_result.val == moveit_msgs::msg::MoveItErrorCodes::PREEMPTED && goal_handle->is_canceling()) {
result->error_code.val = exec_result.val;
goal_handle->canceled(result);
return;
} else if (exec_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS) {
result->error_code.val = exec_result.val;
goal_handle->abort(result);
return;
}

// publish feedback after the subtrajectory has been executed correctly
feedback->sub_id = static_cast<uint32_t>(i + 1);
feedback->sub_no = static_cast<uint32_t>(plan.plan_components.size());
goal_handle->publish_feedback(feedback);
}

result->error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
goal_handle->succeed(result);
return;
}

rclcpp_action::CancelResponse ExecuteTaskSolutionCapability::preemptCallback(
Expand Down Expand Up @@ -181,7 +202,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
}
exec_traj.controller_name = sub_traj.execution_info.controller_names;

/* TODO add action feedback and markers */
/* TODO add markers */
exec_traj.effect_on_success = [this,
&scene_diff = const_cast<::moveit_msgs::msg::PlanningScene&>(sub_traj.scene_diff),
description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
Expand Down