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Make trajectory monitoring optional #17

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Merged
merged 4 commits into from
Mar 14, 2025
Merged

Make trajectory monitoring optional #17

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92a1ec0
Make trajectory monitoring optional
sjahr Mar 12, 2025
05e2d1d
Format
sjahr Mar 14, 2025
ddc1315
Apply suggestions from code review
sjahr Mar 14, 2025
8299437
Update msgs/msg/TrajectoryExecutionInfo.msg
sjahr Mar 14, 2025
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1 change: 1 addition & 0 deletions capabilities/src/execute_task_solution_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
{
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3 changes: 3 additions & 0 deletions msgs/msg/TrajectoryExecutionInfo.msg
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Original file line number Diff line number Diff line change
@@ -1,2 +1,5 @@
# List of controllers to use when executing the trajectory
string[] controller_names
# MoveIt's PlanExecution capability that is used to execute MTC solutions has the ability to monitor a trajectory for collisions while it's being executed. This is useful in dynamic environments where obstacles may change between the time the plan was computed and its execution, or even during execution. If this flag is set to true, MoveIt's online collision monitor will be enabled, which can stop the trajectory at any point during execution if a collision is predicted.
bool trajectory_monitoring

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