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

* move TrajectoryExecutionManager::clear() to private Signed-off-by: Dongya Jiang <[email protected]> * Apply suggestions from code review Co-authored-by: Robert Haschke <[email protected]> --------- Signed-off-by: Dongya Jiang <[email protected]> Co-authored-by: Robert Haschke <[email protected]>
moveit · Jan 12, 2025 · 3ec75ab · 3ec75ab
1 parent 9f1a53d
commit 3ec75ab
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Showing 4 changed files with 3 additions and 10 deletions.
diff --git a/...it_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp b/...it_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp
@@ -200,11 +200,6 @@ void initTrajectoryExecutionManager(py::module& m)
            Stop whatever executions are active, if any.
            )")
 
-      .def("clear", &trajectory_execution_manager::TrajectoryExecutionManager::clear,
-           R"(
-           Clear the trajectories to execute.
-           )")
-
       .def("enable_execution_duration_monitoring",
            &trajectory_execution_manager::TrajectoryExecutionManager::enableExecutionDurationMonitoring,
            py::arg("flag"),

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
@@ -106,7 +106,6 @@ void MoveGroupExecuteTrajectoryAction::executePath(const std::shared_ptr<ExecTra
 {
   RCLCPP_INFO(getLogger(), "Execution request received");
 
-  context_->trajectory_execution_manager_->clear();
   if (context_->trajectory_execution_manager_->push(goal->get_goal()->trajectory, goal->get_goal()->controller_names))
   {
     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
@@ -401,7 +401,6 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
     plan.plan_components[component_idx].trajectory->getRobotTrajectoryMsg(msg);
     if (!trajectory_execution_manager_->push(msg, plan.plan_components[component_idx].controller_name))
     {
-      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/...tion_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.hpp b/...tion_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.hpp
@@ -186,9 +186,6 @@ 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);
@@ -286,6 +283,9 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
   bool executePart(std::size_t part_index);
   bool waitForRobotToStop(const TrajectoryExecutionContext& context, double wait_time = 1.0);
 
+  /// Clear the trajectories to execute
+  void clear();
+
   void stopExecutionInternal();
 
   void receiveEvent(const std_msgs::msg::String::ConstSharedPtr& event);