Add property trajectory_execution_info (moveit#355, moveit#502)

... to pass a list of controller names to PlanExecution

---------

Co-authored-by: Luca Lach <[email protected]>

Author: rhaschke

capabilities/src/execute_task_solution_capability.cpp

@@ -167,6 +167,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		}
 		exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
 		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, sub_traj,

core/include/moveit/task_constructor/stage.h

@@ -39,6 +39,7 @@
 
 #pragma once
 
+#include "trajectory_execution_info.h"
 #include "utils.h"
 #include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/storage.h>
@@ -202,6 +203,14 @@ class Stage
 	/// marker namespace of solution markers
 	const std::string& markerNS() { return properties().get<std::string>("marker_ns"); }
 
+	/// Set and get info to use when executing the stage's trajectory
+	void setTrajectoryExecutionInfo(TrajectoryExecutionInfo trajectory_execution_info) {
+		setProperty("trajectory_execution_info", trajectory_execution_info);
+	}
+	TrajectoryExecutionInfo trajectoryExecutionInfo() const {
+		return properties().get<TrajectoryExecutionInfo>("trajectory_execution_info");
+	}
+
 	/// forwarding of properties between interface states
 	void forwardProperties(const InterfaceState& source, InterfaceState& dest);
 	std::set<std::string> forwardedProperties() const {

core/include/moveit/task_constructor/trajectory_execution_info.h

@@ -0,0 +1,45 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2022, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
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+ *   * Redistributions in binary form must reproduce the above
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+ *     from this software without specific prior written permission.
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+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: Joe Schornak, Sebastian Jahr */
+
+#pragma once
+
+#include <moveit_task_constructor_msgs/TrajectoryExecutionInfo.h>
+
+namespace moveit {
+namespace task_constructor {
+using TrajectoryExecutionInfo = moveit_task_constructor_msgs::TrajectoryExecutionInfo;
+}  // namespace task_constructor
+}  // namespace moveit

core/src/stage.cpp

@@ -308,6 +308,8 @@ Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	auto& p = properties();
 	p.declare<double>("timeout", "timeout per run (s)");
 	p.declare<std::string>("marker_ns", name(), "marker namespace");
+	p.declare<TrajectoryExecutionInfo>("trajectory_execution_info", TrajectoryExecutionInfo(),
+	                                   "settings used when executing the trajectory");
 
 	p.declare<std::set<std::string>>("forwarded_properties", std::set<std::string>(),
 	                                 "set of interface properties to forward");

core/src/storage.cpp

@@ -226,6 +226,8 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::Solution& msg, Intros
 	moveit_task_constructor_msgs::SubTrajectory& t = msg.sub_trajectory.back();
 	SolutionBase::fillInfo(t.info, introspection);
 
+	t.execution_info = creator()->trajectoryExecutionInfo();
+
 	if (trajectory())
 		trajectory()->getRobotTrajectoryMsg(t.trajectory);
 

msgs/CMakeLists.txt

@@ -19,6 +19,7 @@ add_message_files(DIRECTORY msg FILES
 	SubTrajectory.msg
 	TaskDescription.msg
 	TaskStatistics.msg
+	TrajectoryExecutionInfo.msg
 )
 
 add_service_files(DIRECTORY srv FILES

msgs/msg/SubTrajectory.msg

@@ -1,6 +1,9 @@
 # generic solution information
 SolutionInfo info
 
+# trajectory execution information, like controller configuration
+TrajectoryExecutionInfo execution_info
+
 # trajectory
 moveit_msgs/RobotTrajectory trajectory
 

msgs/msg/TrajectoryExecutionInfo.msg

@@ -0,0 +1,2 @@
+# List of controllers to use when executing the trajectory
+string[] controller_names