From c478876ecfb695f3bc1e8ee286c3cd56ead20b2f Mon Sep 17 00:00:00 2001
From: ValsCSGO <valscsgo@gmail.com>
Date: Tue, 15 Feb 2022 22:21:15 -0500
Subject: [PATCH] Broken moveit_commander c++

---
 src/action_server/CMakeLists.txt              | 48 +++++++++++++++++++
 .../include/action_server/action_server.hpp   | 20 ++++++++
 src/action_server/package.xml                 | 21 ++++++++
 src/action_server/src/action_server.cpp       | 40 ++++++++++++++++
 4 files changed, 129 insertions(+)
 create mode 100644 src/action_server/CMakeLists.txt
 create mode 100644 src/action_server/include/action_server/action_server.hpp
 create mode 100644 src/action_server/package.xml
 create mode 100644 src/action_server/src/action_server.cpp

diff --git a/src/action_server/CMakeLists.txt b/src/action_server/CMakeLists.txt
new file mode 100644
index 0000000..b9cfc11
--- /dev/null
+++ b/src/action_server/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.5)
+project(action_server)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(action_server src/action_server.cpp)
+target_include_directories(action_server PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+ament_target_dependencies(action_server rclcpp geometry_msgs)
+
+install(TARGETS action_server
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/action_server/include/action_server/action_server.hpp b/src/action_server/include/action_server/action_server.hpp
new file mode 100644
index 0000000..01d46c2
--- /dev/null
+++ b/src/action_server/include/action_server/action_server.hpp
@@ -0,0 +1,20 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include "geometry_msgs/msg/pose.hpp"
+
+#include <string>
+
+class ActionServer : public rclcpp::Node {
+    public:
+        ActionServer();
+
+    private:
+        void set_pose_cb(geometry_msgs::msg::Pose);
+
+    private:
+        rclcpp::Node::SharedPtr _move_group_node;
+
+        rclcpp::Subscription<geometry_msgs::msg::Pose> _goal;
+
+        const std::string PLANNING_GROUP = "ar3_arm";
+};
diff --git a/src/action_server/package.xml b/src/action_server/package.xml
new file mode 100644
index 0000000..8bc107e
--- /dev/null
+++ b/src/action_server/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>action_server</name>
+  <version>1.0.0</version>
+  <description>Server for handling absolute movements</description>
+  <maintainer email="tmuller2017@my.fit.edu">Thomas Muller</maintainer>
+  <maintainer email="farrell2017@my.fit.edu">John Farrell</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/action_server/src/action_server.cpp b/src/action_server/src/action_server.cpp
new file mode 100644
index 0000000..c42e059
--- /dev/null
+++ b/src/action_server/src/action_server.cpp
@@ -0,0 +1,40 @@
+// https://github.com/ros-planning/moveit2_tutorials/blob/foxy/doc/move_group_interface/src/move_group_interface_tutorial.cpp
+// maybe use this: https://github.com/ros-planning/moveit2/issues/775
+
+#include <action_server/action_server.hpp>
+#include <moveit/move_group_interface/move_group_interface.h>
+
+ActionServer::ActionServer() : rclcpp::Node("action_server") {
+    // Get the move_group we'll apply transformations to
+    moveit::planning_interface::MoveGroupInterface move_group(ActionServer::_move_group_node, PLANNING_GROUP);
+
+    // Define the planning scene
+    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+
+    // Define a pointer to the planning scene because tutorial says it's faster
+    const moveit::core::JointModelGroup* joint_model_group = move_group.getCurrentState()->getJointModelGroup(ActionServer::PLANNING_GROUP);
+
+    // Set up the callback for settings the pose from camera/joystick/etc
+    ActionServer::_goal = _move_group_node->create_subscription<geometry_msgs::msg::Pose>("/set_pose", 10, std::bind(&ActionServer::set_pose_cb, this, std::placeholders::_1));
+}
+
+void set_pose_cb(geometry_msgs::msg::Pose::SharedPtr pose) {
+    move_group.setPoseTarget(pose);
+
+    // plan the trajectory for the move
+    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
+    bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+
+    move_group.move();
+}
+
+int main(int argc, char **argv) {
+    rclcpp::init(argc, argv);
+
+    _move_group_node = std::make_shared<ActionServer>();
+    rclcpp::spin(move_group_node);
+
+    rclcpp::shutdown();
+    return 0;
+}
+