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Pass GlobalPlanner failing to HybridPlanningManager #2

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Nov 23, 2021
Merged

Pass GlobalPlanner failing to HybridPlanningManager #2

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28 changes: 16 additions & 12 deletions .../hybrid_planning/global_planner/global_planner_component/src/global_planner_component.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,18 +119,22 @@ void GlobalPlannerComponent::globalPlanningRequestCallback(
{
// Plan global trajectory
moveit_msgs::msg::MotionPlanResponse planning_solution = global_planner_instance_->plan(goal_handle);

// Publish global planning solution to the local planner
global_trajectory_pub_->publish(planning_solution);

// Send action response
auto result = std::make_shared<moveit_msgs::action::GlobalPlanner::Result>();
result->response = planning_solution;
goal_handle->succeed(result);

// Save newest planning solution
last_global_solution_ = planning_solution; // TODO(sjahr) Add Service to expose this

if (planning_solution.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS) {
// Publish global planning solution to the local planner
global_trajectory_pub_->publish(planning_solution);

// Send action response
auto result = std::make_shared<moveit_msgs::action::GlobalPlanner::Result>();
result->response = planning_solution;
goal_handle->succeed(result);

// Save newest planning solution
last_global_solution_ = planning_solution; // TODO(sjahr) Add Service to expose this
} else {
auto result = std::make_shared<moveit_msgs::action::GlobalPlanner::Result>();
result->response = planning_solution;
goal_handle->abort(result);
}
// Reset the global planner
global_planner_instance_->reset();
};
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22 changes: 15 additions & 7 deletions ...hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,16 +179,24 @@ bool HybridPlanningManager::sendGlobalPlannerAction()
global_goal_options.result_callback =
[this](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::WrappedResult& global_result) {
// Reaction result from the latest event
ReactionResult reaction_result =
planner_logic_instance_->react(HybridPlanningEvent::GLOBAL_PLANNING_ACTION_FINISHED);
auto result = std::make_shared<moveit_msgs::action::HybridPlanner::Result>();
if (reaction_result.error_code.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
if(global_result.code == rclcpp_action::ResultCode::SUCCEEDED)
{
ReactionResult reaction_result =
planner_logic_instance_->react(HybridPlanningEvent::GLOBAL_PLANNING_ACTION_FINISHED);
auto result = std::make_shared<moveit_msgs::action::HybridPlanner::Result>();
result->error_code.val = reaction_result.error_code.val;
result->error_message = reaction_result.error_message;
if (reaction_result.error_code.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
{
auto result = std::make_shared<moveit_msgs::action::HybridPlanner::Result>();
result->error_code.val = reaction_result.error_code.val;
result->error_message = reaction_result.error_message;
hybrid_planning_goal_handle_->abort(result);
RCLCPP_ERROR(LOGGER, "Hybrid Planning Manager failed to react to '%s'", reaction_result.event.c_str());
}
} else {
auto result = std::make_shared<moveit_msgs::action::HybridPlanner::Result>();
result->error_code.val = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
result->error_message = "Global planner failed to find a solution";
hybrid_planning_goal_handle_->abort(result);
RCLCPP_ERROR(LOGGER, "Hybrid Planning Manager failed to react to '%s'", reaction_result.event.c_str());
}
};

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