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Make trajectory monitoring optional #17

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Merged
merged 4 commits into from
Mar 14, 2025
Merged

Make trajectory monitoring optional #17

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92a1ec0
Make trajectory monitoring optional
sjahr Mar 12, 2025
05e2d1d
Format
sjahr Mar 14, 2025
ddc1315
Apply suggestions from code review
sjahr Mar 14, 2025
8299437
Update msgs/msg/TrajectoryExecutionInfo.msg
sjahr Mar 14, 2025
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1 change: 1 addition & 0 deletions capabilities/src/execute_task_solution_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
{
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2 changes: 2 additions & 0 deletions msgs/msg/TrajectoryExecutionInfo.msg
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@@ -1,2 +1,4 @@
# List of controllers to use when executing the trajectory
string[] controller_names
# If true, the trajectory is collision checked before execution.
bool trajectory_monitoring
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