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Provide feedback during ExecuteTaskSolution action #653

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Feb 11, 2025
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Provide feedback during ExecuteTaskSolution action #653

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35 changes: 20 additions & 15 deletions capabilities/src/execute_task_solution_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -166,21 +166,26 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
exec_traj.controller_names_ = sub_traj.execution_info.controller_names;

/* TODO add action feedback and markers */
exec_traj.effect_on_success_ = [this,
&scene_diff = const_cast<::moveit_msgs::PlanningScene&>(sub_traj.scene_diff),
description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
// Never modify joint state directly (only via robot trajectories)
scene_diff.robot_state.joint_state = sensor_msgs::JointState();
scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::MultiDOFJointState();
scene_diff.robot_state.is_diff = true; // silent empty JointState msg error

if (!moveit::core::isEmpty(scene_diff)) {
ROS_DEBUG_STREAM_NAMED("ExecuteTaskSolution", "apply effect of " << description);
return context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff);
}
return true;
};
exec_traj.effect_on_success_ =
[this, &scene_diff = const_cast<::moveit_msgs::PlanningScene&>(sub_traj.scene_diff), description, i,
no = solution.sub_trajectory.size()](const plan_execution::ExecutableMotionPlan* /*plan*/) {
// publish feedback
moveit_task_constructor_msgs::ExecuteTaskSolutionFeedback feedback;
feedback.sub_id = i;
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Just a quick remark. If we keep it as is now (publishing the feedback only after the subtrajectory finishes), I think it makes more sense to use i + 1 here to match what is parsed in exec_traj.description_. Otherwise, if we decide to publish feedback at the start of the subtrajectory as well, publishing 0 initially would be reasonable.

feedback.sub_no = no;
as_->publishFeedback(feedback);

// Never modify joint state directly (only via robot trajectories)
scene_diff.robot_state.joint_state = sensor_msgs::JointState();
scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::MultiDOFJointState();
scene_diff.robot_state.is_diff = true; // silent empty JointState msg error

if (!moveit::core::isEmpty(scene_diff)) {
ROS_DEBUG_STREAM_NAMED("ExecuteTaskSolution", "apply effect of " << description);
return context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff);
}
return true;
};

if (!moveit::core::isEmpty(sub_traj.scene_diff.robot_state) &&
!moveit::core::robotStateMsgToRobotState(sub_traj.scene_diff.robot_state, state, true)) {
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