Make trajectory monitoring optional

sjahr · sjahr · commit 92a1ec051801 · 2025-03-14T10:25:54.000+01:00
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -151,6 +151,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		// define individual variable for use in closure below
 		const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());
 		exec_traj.description = description;
+		exec_traj.trajectory_monitoring = sub_traj.execution_info.trajectory_monitoring;
 
 		const moveit::core::JointModelGroup* group = nullptr;
 		{
diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg
@@ -1,2 +1,4 @@
 # List of controllers to use when executing the trajectory
 string[] controller_names
+# If true, the trajectory is collision checked before execution.
+bool trajectory_monitoring

Original file line number	Diff line number	Diff line change
`@@ -151,6 +151,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr`
`151`	`151`	`// define individual variable for use in closure below`
`152`	`152`	`const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());`
`153`	`153`	`exec_traj.description = description;`
	`154`	`+ exec_traj.trajectory_monitoring = sub_traj.execution_info.trajectory_monitoring;`
`154`	`155`
`155`	`156`	`const moveit::core::JointModelGroup* group = nullptr;`
`156`	`157`	`{`