Do not allow traj execution from PlanningComponent (#1835)

* Do not allow traj execution from PlanningComponent * Deprecate, don't delete * Get the group_name from RobotTrajectory * Rebase
moveit · Jan 15, 2023 · 6711436 · 6711436
1 parent c6733bd
commit 6711436
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Showing 4 changed files with 19 additions and 8 deletions.
diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -162,9 +162,6 @@ class MoveItCpp
   const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const;
   trajectory_execution_manager::TrajectoryExecutionManagerPtr getTrajectoryExecutionManagerNonConst();
 
-  /** \brief Execute a trajectory on the planning group specified by group_name using the trajectory execution manager.
-   * If blocking is set to false, the execution is run in background and the function returns immediately. */
-
   /** \brief Execute a trajectory on the planning group specified by group_name using the trajectory execution manager.
    *  \param [in] group_name MoveIt group to execute for.
    *  \param [in] robot_trajectory Contains trajectory info as well as metadata such as a RobotModel.
@@ -173,10 +170,15 @@ class MoveItCpp
    * a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.
    * \return moveit_controller_manager::ExecutionStatus::SUCCEEDED if successful
    */
-  moveit_controller_manager::ExecutionStatus
+  [[deprecated(
+      "MoveItCpp::execute() no longer requires a group_name parameter")]] moveit_controller_manager::ExecutionStatus
   execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
           bool blocking = true, const std::vector<std::string>& controllers = std::vector<std::string>());
 
+  moveit_controller_manager::ExecutionStatus
+  execute(const robot_trajectory::RobotTrajectoryPtr& robot_trajectory, bool blocking = true,
+          const std::vector<std::string>& controllers = std::vector<std::string>());
+
   /** \brief Utility to terminate the given planning pipeline */
   bool terminatePlanningPipeline(const std::string& pipeline_name);
 

diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -202,7 +202,7 @@ class PlanningComponent
 
   /** \brief Execute the latest computed solution trajectory computed by plan(). By default this function terminates
    * after the execution is complete. The execution can be run in background by setting blocking to false. */
-  bool execute(bool blocking = true);
+  [[deprecated("Use MoveItCpp::execute()")]] bool execute(bool blocking = true);
 
   /** \brief Return the last plan solution*/
   const planning_interface::MotionPlanResponse& getLastMotionPlanResponse();

diff --git a/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
@@ -217,15 +217,24 @@ trajectory_execution_manager::TrajectoryExecutionManagerPtr MoveItCpp::getTrajec
 }
 
 moveit_controller_manager::ExecutionStatus
-MoveItCpp::execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
-                   bool blocking, const std::vector<std::string>& controllers)
+MoveItCpp::execute(const std::string& /* group_name */, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
+                   bool blocking, const std::vector<std::string>& /* controllers */)
+{
+  return execute(robot_trajectory, blocking);
+}
+
+moveit_controller_manager::ExecutionStatus
+MoveItCpp::execute(const robot_trajectory::RobotTrajectoryPtr& robot_trajectory, bool blocking,
+                   const std::vector<std::string>& controllers)
 {
   if (!robot_trajectory)
   {
     RCLCPP_ERROR(LOGGER, "Robot trajectory is undefined");
     return moveit_controller_manager::ExecutionStatus::ABORTED;
   }
 
+  const std::string group_name = robot_trajectory->getGroupName();
+
   // Check if there are controllers that can handle the execution
   if (!trajectory_execution_manager_->ensureActiveControllersForGroup(group_name))
   {

diff --git a/moveit_ros/planning/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
@@ -412,7 +412,7 @@ bool PlanningComponent::execute(bool blocking)
   //  RCLCPP_ERROR("Failed to parameterize trajectory");
   //  return false;
   //}
-  return moveit_cpp_->execute(group_name_, last_plan_solution_.trajectory_, blocking);
+  return moveit_cpp_->execute(last_plan_solution_.trajectory_, blocking);
 }
 
 const planning_interface::MotionPlanResponse& PlanningComponent::getLastMotionPlanResponse()