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move TrajectoryExecutionManager::clear() to private #3226

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merged 2 commits into from
Jan 12, 2025
Merged

move TrajectoryExecutionManager::clear() to private #3226

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54cca7e
move TrajectoryExecutionManager::clear() to private
patrickKXMD Jan 10, 2025
1b82272
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patrickKXMD Jan 12, 2025
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5 changes: 0 additions & 5 deletions ...it_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,11 +200,6 @@ void initTrajectoryExecutionManager(py::module& m)
Stop whatever executions are active, if any.
)")

.def("clear", &trajectory_execution_manager::TrajectoryExecutionManager::clear,
R"(
Clear the trajectories to execute.
)")

.def("enable_execution_duration_monitoring",
&trajectory_execution_manager::TrajectoryExecutionManager::enableExecutionDurationMonitoring,
py::arg("flag"),
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1 change: 0 additions & 1 deletion moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
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Expand Up @@ -106,7 +106,6 @@ void MoveGroupExecuteTrajectoryAction::executePath(const std::shared_ptr<ExecTra
{
RCLCPP_INFO(getLogger(), "Execution request received");

context_->trajectory_execution_manager_->clear();
if (context_->trajectory_execution_manager_->push(goal->get_goal()->trajectory, goal->get_goal()->controller_names))
{
setExecuteTrajectoryState(MONITOR, goal);
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1 change: 0 additions & 1 deletion moveit_ros/planning/plan_execution/src/plan_execution.cpp
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Expand Up @@ -401,7 +401,6 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
plan.plan_components[component_idx].trajectory->getRobotTrajectoryMsg(msg);
if (!trajectory_execution_manager_->push(msg, plan.plan_components[component_idx].controller_name))
{
trajectory_execution_manager_->clear();
RCLCPP_ERROR(logger_, "Apparently trajectory initialization failed");
execution_complete_ = true;
result.val = moveit_msgs::msg::MoveItErrorCodes::CONTROL_FAILED;
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6 changes: 3 additions & 3 deletions ...tion_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.hpp
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Expand Up @@ -186,9 +186,6 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
/// Stop whatever executions are active, if any
void stopExecution(bool auto_clear = true);

/// Clear the trajectories to execute
void clear();

/// Enable or disable the monitoring of trajectory execution duration. If a controller takes
/// longer than expected, the trajectory is canceled
void enableExecutionDurationMonitoring(bool flag);
Expand Down Expand Up @@ -286,6 +283,9 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
bool executePart(std::size_t part_index);
bool waitForRobotToStop(const TrajectoryExecutionContext& context, double wait_time = 1.0);

/// Clear the trajectories to execute
void clear();

void stopExecutionInternal();

void receiveEvent(const std_msgs::msg::String::ConstSharedPtr& event);
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