move TrajectoryExecutionManager::clear() to private (backport #3226) (#…

…3237) (cherry picked from commit 3ec75ab) Signed-off-by: Dongya Jiang <1983534+patrickKXMD@users.noreply.github.com> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
moveit · Jan 12, 2025 · 5333395 · 5333395
1 parent edddadb
commit 5333395
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Showing 3 changed files with 3 additions and 5 deletions.
diff --git a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
@@ -107,7 +107,6 @@ void MoveGroupExecuteTrajectoryAction::executePath(const std::shared_ptr<ExecTra
 {
   RCLCPP_INFO(LOGGER, "Execution request received");
 
-  context_->trajectory_execution_manager_->clear();
   if (context_->trajectory_execution_manager_->push(goal->get_goal()->trajectory))
   {
     setExecuteTrajectoryState(MONITOR, goal);

diff --git a/moveit_ros/planning/plan_execution/src/plan_execution.cpp b/moveit_ros/planning/plan_execution/src/plan_execution.cpp
@@ -397,7 +397,6 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
     plan.plan_components_[i].trajectory_->getRobotTrajectoryMsg(msg);
     if (!trajectory_execution_manager_->push(msg, plan.plan_components_[i].controller_names_))
     {
-      trajectory_execution_manager_->clear();
       RCLCPP_ERROR(LOGGER, "Apparently trajectory initialization failed");
       execution_complete_ = true;
       result.val = moveit_msgs::msg::MoveItErrorCodes::CONTROL_FAILED;

diff --git a/...cution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/...cution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -221,9 +221,6 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
   /// Stop whatever executions are active, if any
   void stopExecution(bool auto_clear = true);
 
-  /// Clear the trajectories to execute
-  void clear();
-
   /// Enable or disable the monitoring of trajectory execution duration. If a controller takes
   /// longer than expected, the trajectory is canceled
   void enableExecutionDurationMonitoring(bool flag);
@@ -304,6 +301,9 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
   bool waitForRobotToStop(const TrajectoryExecutionContext& context, double wait_time = 1.0);
   void continuousExecutionThread();
 
+  /// Clear the trajectories to execute
+  void clear();
+
   void stopExecutionInternal();
 
   void receiveEvent(const std_msgs::msg::String::ConstSharedPtr& event);