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Planning request adapter, port to ROS 2 #62

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merged 3 commits into from
Apr 9, 2019
Merged

Planning request adapter, port to ROS 2 #62

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eb550d8
Port planning_request_adapter to ROS 2
vmayoral Mar 31, 2019
185c4b8
planning_request_adapter, adapt logging to https://github.com/ros-pla…
vmayoral Mar 31, 2019
0c46e8e
Merge branch 'moveit2' into planning-request-adapter
vmayoral Apr 8, 2019
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17 changes: 12 additions & 5 deletions moveit_core/planning_request_adapter/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,18 @@ set(MOVEIT_LIB_NAME moveit_planning_request_adapter)
add_library(${MOVEIT_LIB_NAME} src/planning_request_adapter.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} moveit_planning_scene ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
ament_target_dependencies(${MOVEIT_LIB_NAME}
"moveit_planning_scene"
"rclcpp"
"rmw_implementation"
"urdf"
"urdfdom"
"urdfdom_headers"
"visualization_msgs"
)

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
9 changes: 6 additions & 3 deletions moveit_core/planning_request_adapter/src/planning_request_adapter.cpp
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Expand Up @@ -37,11 +37,14 @@
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <boost/bind.hpp>
#include <algorithm>
#include "rclcpp/rclcpp.hpp"

// we could really use some c++11 lambda functions here :)

namespace planning_request_adapter
{
rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("planning_request_adapter");

namespace
{
bool callPlannerInterfaceSolve(const planning_interface::PlannerManager* planner,
Expand Down Expand Up @@ -91,7 +94,7 @@ bool callAdapter1(const PlanningRequestAdapter* adapter, const planning_interfac
}
catch (std::exception& ex)
{
ROS_ERROR_NAMED("planning_request_adapter", "Exception caught executing *final* adapter '%s': %s",
RCLCPP_ERROR(LOGGER, "Exception caught executing *final* adapter '%s': %s",
adapter->getDescription().c_str(), ex.what());
added_path_index.clear();
return callPlannerInterfaceSolve(planner.get(), planning_scene, req, res);
Expand All @@ -109,7 +112,7 @@ bool callAdapter2(const PlanningRequestAdapter* adapter, const PlanningRequestAd
}
catch (std::exception& ex)
{
ROS_ERROR_NAMED("planning_request_adapter", "Exception caught executing *next* adapter '%s': %s",
RCLCPP_ERROR(LOGGER, "Exception caught executing *next* adapter '%s': %s",
adapter->getDescription().c_str(), ex.what());
added_path_index.clear();
return planner(planning_scene, req, res);
Expand Down Expand Up @@ -166,4 +169,4 @@ bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::Planner
}
}

} // end of namespace planning_request_adapter
} // end of namespace planning_request_adapter