/// <summary>
/// Creates an <c>EndEffector</c> instance
/// </summary>
/// <param name="moveGroup">Instance of move group where the endeffector belongs to</param>
/// <param name="endEffectorName">Name of the end effector</param>
/// <param name="endEffectorLinkName">Name of the end effector link</param>
public EndEffector(IMoveGroup moveGroup, string endEffectorName, string endEffectorLinkName)
{
this.moveGroup = moveGroup;
this.name = endEffectorName;
this.linkName = endEffectorLinkName;
this.motionService = moveGroup.MotionService;
}
private async static Task HandleStepwiseMotions(ISteppedMotionClient client, IMoveGroup group)
{
string channelName = "MotionDialog";
string topic = "SteppedMotions";
string disposition = "SteppedMotion";
using (var RosRoboChatClient = new RosRoboChatActionClient(rosClient.GlobalNodeHandle))
{
RosRoboChatClient.CreateChat(channelName, topic);
var messageBody = new SteppedMotionMessage {
GoalId = client.GoalId, Progress = 0, MoveGroupName = group.Name
}.ToString();
string messageId = RosRoboChatClient.CallMessageCommand(channelName, "add", messageBody, null, new string[] { disposition });
try
{
var cancelReport = new CancellationTokenSource();
xamlamoveit.StepwiseMoveJResult result;
var updateProgressTask = UpdateProgress(client, RosRoboChatClient, channelName, messageId, disposition, group.Name, cancelReport.Token);
try
{
result = await client.GoalTask;
}
finally
{
cancelReport.Cancel();
await updateProgressTask.WhenCompleted();
}
if (result.result < 0)
{
throw new Exception($"SteppedMotion was not finished: { result.result }");
}
}
finally
{
RosRoboChatClient.CallMessageCommand(channelName, "remove", null, messageId, new string[] { disposition });
}
}
}
public Plan(IMoveGroup moveGroup, IJointTrajectory trajectory, PlanParameters parameters)
{
this.MoveGroup = moveGroup;
this.Trajectory = trajectory;
this.Parameters = parameters;
}
