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Add publishers for Gazebo attach and detach events in manipulation agent #4

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Merged
svillaloren merged 1 commit into from
Jan 14, 2026
Merged

Add publishers for Gazebo attach and detach events in manipulation agent #4

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17 changes: 16 additions & 1 deletion moveit_ros/move_group/src/default_capabilities/manipulation_agent_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,10 +69,18 @@ void MoveGroupManipulationAgentService::initialize()
auto node = context_->moveit_cpp_->getNode();
callback_group_action_client_ = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

// Gazebo
gz_attach_pub_ = node->create_publisher<std_msgs::msg::Empty>(
"/gz/attach_box1", rclcpp::QoS(1));

gz_detach_pub_ = node->create_publisher<std_msgs::msg::Empty>(
"/gz/detach_box1", rclcpp::QoS(1));

attach_object_action_client_ = rclcpp_action::create_client<isaac_ros_cumotion_interfaces::action::AttachObject>(
node, "/attach_object", callback_group_action_client_);

get_arm_position_service_ = context_->moveit_cpp_->getNode()->create_service<aivot_msgs::srv::GetArmPosition>(
get_arm_position_service_ = context_->moveit_cpp_->getNode()->create_service<aivot_msgs::srv::GetArmPosition>(
"get_arm_position", [this](const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<aivot_msgs::srv::GetArmPosition::Request>& req,
const std::shared_ptr<aivot_msgs::srv::GetArmPosition::Response>& res) {
Expand Down Expand Up @@ -348,17 +356,24 @@ void MoveGroupManipulationAgentService::initialize()
RCLCPP_ERROR(LOGGER, "Object Attachment goal execution time out...");
return;
}

auto pub_empty = [](auto & pub) {
std_msgs::msg::Empty msg;
pub->publish(msg);
};

// The final result
auto result = future_result.get();

if (result.result->outcome.find("attached") != std::string::npos)
{
pub_empty(gz_attach_pub_);
RCLCPP_INFO(LOGGER, "Object '%s' attached successfully to arm '%s'", req->object_id.name.c_str(), req->new_arm.c_str());
res->error_info.description = result.result->outcome;
}
else if (result.result->outcome.find("Detached") != std::string::npos)
{
pub_empty(gz_detach_pub_);
RCLCPP_INFO(LOGGER, "Object '%s' detached successfully from arm '%s'", req->object_id.name.c_str(), req->prev_arm.c_str());
res->error_info.description = result.result->outcome;
}
Expand Down
4 changes: 3 additions & 1 deletion moveit_ros/move_group/src/default_capabilities/manipulation_agent_capability.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@
#include <aivot_msgs/srv/get_arm_pose.hpp>
#include <aivot_msgs/srv/get_gripper_position.hpp>
#include <aivot_msgs/srv/modify_scene_object.hpp>
#include <std_msgs/msg/empty.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <rclcpp/callback_group.hpp>
#include <isaac_ros_cumotion_interfaces/action/attach_object.hpp>
Expand All @@ -64,7 +65,8 @@ MoveGroupManipulationAgentService();
std::string StrLowerCase (const std::string & value);
bool HasSubStrI (const std::string & value, const std::string & query);
int ArmIdx (const std::string & name);

rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr gz_attach_pub_;
rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr gz_detach_pub_;
rclcpp::Service<aivot_msgs::srv::GetArmPosition>::SharedPtr get_arm_position_service_;
rclcpp::Service<aivot_msgs::srv::GetArmPose>::SharedPtr get_arm_pose_service_;
rclcpp::Service<aivot_msgs::srv::GetGripperPosition>::SharedPtr get_gripper_position_service_;
Expand Down
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