Make trajectory monitoring optional (#17)

sjahr · marioprats · web-flow · commit 3c3fb87aa28d · 2025-03-14T11:06:46.000+01:00
Co-authored-by: Mario Prats &lt;mario.prats@picknik.ai&gt;
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -151,6 +151,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		// define individual variable for use in closure below
 		const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());
 		exec_traj.description = description;
+		exec_traj.trajectory_monitoring = sub_traj.execution_info.trajectory_monitoring;
 
 		const moveit::core::JointModelGroup* group = nullptr;
 		{
diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg
@@ -1,2 +1,5 @@
 # List of controllers to use when executing the trajectory
 string[] controller_names
+# MoveIt's PlanExecution capability that is used to execute MTC solutions has the ability to monitor a trajectory for collisions while it's being executed. This is useful in dynamic environments where obstacles may change between the time the plan was computed and its execution, or even during execution. If this flag is set to true, MoveIt's online collision monitor will be enabled, which can stop the trajectory at any point during execution if a collision is predicted.
+bool trajectory_monitoring
+

Original file line number	Diff line number	Diff line change
`@@ -151,6 +151,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr`
`151`	`151`	`// define individual variable for use in closure below`
`152`	`152`	`const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());`
`153`	`153`	`exec_traj.description = description;`
	`154`	`+ exec_traj.trajectory_monitoring = sub_traj.execution_info.trajectory_monitoring;`
`154`	`155`
`155`	`156`	`const moveit::core::JointModelGroup* group = nullptr;`
`156`	`157`	`{`