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Initialize parameters before ROS2 callbacks #74

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Initialize parameters before ROS2 callbacks #74

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92 changes: 46 additions & 46 deletions pymoveit2/moveit2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,52 @@ def __init__(
"Parameter `follow_joint_trajectory_action_name` is deprecated. `MoveIt2` uses the `execute_trajectory` action instead."
)

self.__collision_object_publisher = self._node.create_publisher(
CollisionObject, "/collision_object", 10
)
self.__attached_collision_object_publisher = self._node.create_publisher(
AttachedCollisionObject, "/attached_collision_object", 10
)

self.__cancellation_pub = self._node.create_publisher(
String, "/trajectory_execution_event", 1
)

self.__joint_state_mutex = threading.Lock()
self.__joint_state = None
self.__new_joint_state_available = False
self.__move_action_goal = self.__init_move_action_goal(
frame_id=base_link_name,
group_name=group_name,
end_effector=end_effector_name,
)

# Flag to determine whether to execute trajectories via Move Group Action, or rather by calling
# the separate ExecuteTrajectory action
# Applies to `move_to_pose()` and `move_to_configuration()`
self.__use_move_group_action = use_move_group_action

# Flag that determines whether a new goal can be sent while the previous one is being executed
self.__ignore_new_calls_while_executing = ignore_new_calls_while_executing

# Store additional variables for later use
self.__joint_names = joint_names
self.__base_link_name = base_link_name
self.__end_effector_name = end_effector_name
self.__group_name = group_name

# Internal states that monitor the current motion requests and execution
self.__is_motion_requested = False
self.__is_executing = False
self.motion_suceeded = False
self.__execution_goal_handle = None
self.__last_error_code = None
self.__wait_until_executed_rate = self._node.create_rate(1000.0)
self.__execution_mutex = threading.Lock()

# Event that enables waiting until async future is done
self.__future_done_event = threading.Event()

# Create subscriber for current joint states
self._node.create_subscription(
msg_type=JointState,
Expand Down Expand Up @@ -256,52 +302,6 @@ def __init__(
callback_group=callback_group,
)

self.__collision_object_publisher = self._node.create_publisher(
CollisionObject, "/collision_object", 10
)
self.__attached_collision_object_publisher = self._node.create_publisher(
AttachedCollisionObject, "/attached_collision_object", 10
)

self.__cancellation_pub = self._node.create_publisher(
String, "/trajectory_execution_event", 1
)

self.__joint_state_mutex = threading.Lock()
self.__joint_state = None
self.__new_joint_state_available = False
self.__move_action_goal = self.__init_move_action_goal(
frame_id=base_link_name,
group_name=group_name,
end_effector=end_effector_name,
)

# Flag to determine whether to execute trajectories via Move Group Action, or rather by calling
# the separate ExecuteTrajectory action
# Applies to `move_to_pose()` and `move_to_configuration()`
self.__use_move_group_action = use_move_group_action

# Flag that determines whether a new goal can be sent while the previous one is being executed
self.__ignore_new_calls_while_executing = ignore_new_calls_while_executing

# Store additional variables for later use
self.__joint_names = joint_names
self.__base_link_name = base_link_name
self.__end_effector_name = end_effector_name
self.__group_name = group_name

# Internal states that monitor the current motion requests and execution
self.__is_motion_requested = False
self.__is_executing = False
self.motion_suceeded = False
self.__execution_goal_handle = None
self.__last_error_code = None
self.__wait_until_executed_rate = self._node.create_rate(1000.0)
self.__execution_mutex = threading.Lock()

# Event that enables waiting until async future is done
self.__future_done_event = threading.Event()

#### Execution Polling Functions
def query_state(self) -> MoveIt2State:
with self.__execution_mutex:
Expand Down