RosPositionCommandExecutor.hpp

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#ifndef AIKIDO_CONTROL_ROS_ROSPOSITIONCOMMANDEXECUTOR_HPP_
#define AIKIDO_CONTROL_ROS_ROSPOSITIONCOMMANDEXECUTOR_HPP_
 
#include <chrono>
#include <future>
#include <mutex>
 
#include <Eigen/Dense>
#include <actionlib/client/action_client.h>
#include <pr_control_msgs/SetPositionAction.h>
#include <ros/callback_queue.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
 
#include "aikido/control/PositionCommandExecutor.hpp"
 
namespace aikido {
namespace control {
namespace ros {
 
class RosPositionCommandExecutor
  : public aikido::control::PositionCommandExecutor
{
public:
  RosPositionCommandExecutor(
      ::ros::NodeHandle node,
      const std::string& serverName,
      std::vector<std::string> jointNames,
      std::chrono::milliseconds connectionTimeout
      = std::chrono::milliseconds{1000},
      std::chrono::milliseconds connectionPollingPeriod
      = std::chrono::milliseconds{20});
 
  virtual ~RosPositionCommandExecutor();
 
  std::future<void> execute(const Eigen::VectorXd& goalPositions) override;
 
  void step(const std::chrono::system_clock::time_point& timepoint) override;
 
private:
  using RosPositionActionClient
      = actionlib::ActionClient<pr_control_msgs::SetPositionAction>;
  using GoalHandle = RosPositionActionClient::GoalHandle;
 
  void transitionCallback(GoalHandle handle);
 
  ::ros::NodeHandle mNode;
  ::ros::CallbackQueue mCallbackQueue;
  RosPositionActionClient mClient;
  RosPositionActionClient::GoalHandle mGoalHandle;
 
  std::vector<std::string> mJointNames;
 
  std::chrono::milliseconds mConnectionTimeout;
  std::chrono::milliseconds mConnectionPollingPeriod;
 
  bool mInProgress;
  std::unique_ptr<std::promise<void>> mPromise;
 
  mutable std::mutex mMutex;
};
 
} // namespace ros
} // namespace control
} // namespace aikido
 
#endif // ifndef AIKIDO_CONTROL_ROS_ROSPOSITIONCOMMANDEXECUTOR_HPP_