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RCLCPP Upgrade Bugfixes #1181

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merged 4 commits into from
Apr 14, 2022
Merged

RCLCPP Upgrade Bugfixes #1181

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2cb7dd1
Fix Duration Constructor for Rolling
DLu Apr 14, 2022
c9227c8
Get in my delorean, fire up the time circuits and CHANGE THE FUTURE
DLu Apr 14, 2022
ca16e96
Doc! I have to tell you about the future!
DLu Apr 14, 2022
515627a
Your future hasn't been written yet, no one's has. Your future is wha…
DLu Apr 14, 2022
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2 changes: 1 addition & 1 deletion moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ class MoveItControllerHandle
* Return true if the execution is complete (whether successful or not).
* Return false if timeout was reached.
* If timeout is -1 (default argument), wait until the execution is complete (no timeout). */
virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(-1)) = 0;
virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_nanoseconds(-1)) = 0;

/** \brief Return the execution status of the last trajectory sent to the controller. */
virtual ExecutionStatus getLastExecutionStatus() = 0;
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2 changes: 1 addition & 1 deletion ...e_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
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Expand Up @@ -150,7 +150,7 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
rclcpp_action::Client<control_msgs::action::GripperCommand>::SendGoalOptions send_goal_options;
// Active callback
send_goal_options.goal_response_callback =
[this](std::shared_future<rclcpp_action::Client<control_msgs::action::GripperCommand>::GoalHandle::SharedPtr>
[this](rclcpp_action::Client<control_msgs::action::GripperCommand>::GoalHandle::SharedPtr
/* unused-arg */) { RCLCPP_DEBUG_STREAM(LOGGER, name_ << " started execution"); };
// Send goal
auto current_goal_future = controller_action_client_->async_send_goal(goal, send_goal_options);
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5 changes: 1 addition & 4 deletions ...lugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
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Expand Up @@ -66,11 +66,8 @@ bool FollowJointTrajectoryControllerHandle::sendTrajectory(const moveit_msgs::ms
rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SendGoalOptions send_goal_options;
// Active callback
send_goal_options.goal_response_callback =
[this](
std::shared_future<rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::GoalHandle::SharedPtr>
future) {
[this](rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::GoalHandle::SharedPtr goal_handle) {
RCLCPP_INFO_STREAM(LOGGER, name_ << " started execution");
const auto& goal_handle = future.get();
if (!goal_handle)
RCLCPP_WARN(LOGGER, "Goal request rejected");
else
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6 changes: 2 additions & 4 deletions ...hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
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Expand Up @@ -212,8 +212,7 @@ bool HybridPlanningManager::sendGlobalPlannerAction()

// Add goal response callback
global_goal_options.goal_response_callback =
[this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr> future) {
auto const& goal_handle = future.get();
[this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr goal_handle) {
auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
auto& feedback = planning_progress->feedback;
if (!goal_handle)
Expand Down Expand Up @@ -283,8 +282,7 @@ bool HybridPlanningManager::sendLocalPlannerAction()

// Add goal response callback
local_goal_options.goal_response_callback =
[this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr> future) {
auto const& goal_handle = future.get();
[this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr goal_handle) {
auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
auto& feedback = planning_progress->feedback;
if (!goal_handle)
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10 changes: 3 additions & 7 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Expand Up @@ -762,8 +762,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
const auto& goal_handle = future.get();
[&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
if (!goal_handle)
{
done = true;
Expand Down Expand Up @@ -841,8 +840,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
const auto& goal_handle = future.get();
[&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
if (!goal_handle)
{
done = true;
Expand Down Expand Up @@ -906,9 +904,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::ExecuteTrajectory>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr>
future) {
const auto& goal_handle = future.get();
[&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr goal_handle) {
if (!goal_handle)
{
done = true;
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