Zenoh Integration To MoveIt #2879
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…ods of move_group_interface - Reimplemented getPlannerParams, setPlannerParams, getInterfaceDescription, getInterfaceDescriptions, plan, execute, move and computeCartesianPath methods of move_group_interface using rclcpp's own api - Removed callback_thread_
…rmw_wait issues of rmw_zenoh - Changed move_group server's executor as SingleThreadedExecutor - Added event_topic_subsciber to different executor
CihatAltiparmak
commented
Jun 24, 2024
| @@ -309,7 +309,7 @@ int main(int argc, char** argv) | |||
| RCLCPP_INFO(nh->get_logger(), "MoveGroup debug mode is OFF"); | |||
| } | |||
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| rclcpp::executors::MultiThreadedExecutor executor; | |||
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We have modified this part due to the fact that rmw_wait function of rmw_zenoh still has some problems. We must use SingleThreadedExecutor at the moment.
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| auto callback_group = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); | ||
| auto options = rclcpp::SubscriptionOptions(); | ||
| options.callback_group = callback_group; | ||
| event_topic_subscriber_ = node_->create_subscription<std_msgs::msg::String>( | ||
| EXECUTION_EVENT_TOPIC, rclcpp::SystemDefaultsQoS(), | ||
| [this](const std_msgs::msg::String::ConstSharedPtr& event) { return receiveEvent(event); }, options); | ||
| private_executor_->add_callback_group(callback_group, node_->get_node_base_interface()); |
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I added this callback group to private_executor that also spins control_manager node so that event_topic_subscriber receives callback to stop trajectory execution. Shortly, it seems MultiThreadedExecutor in MoveIt's default implementation is just for spinning this subscription.
4 tasks
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It's not necessary anymore. rmw_zenoh is able to run with MultiThreadedExecutor now . Closing. |
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Description
I made a few modifications for MoveIt to be able to run with rmw_zenoh middleware implementation. This is experimental PR and should not be merged. It seems this modifications works well with rmw_zenoh. We have actually just changed below (see my reviews) parts. I also added this PR's commits. By the way i don't know how these changes affect MoveIt execution flow. I am still investigating.
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