[ros2] Add Stage property to assign a list of controllers to use when executing the planned trajectory

capabilities/src/execute_task_solution_capability.cpp

@@ -170,6 +170,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		}
 		exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
 		exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
+		exec_traj.controller_name = sub_traj.execution_info.controller_names;
 
 		/* TODO add action feedback and markers */
 		exec_traj.effect_on_success = [this, sub_traj,

core/include/moveit/task_constructor/stage.h

@@ -39,6 +39,7 @@
 
 #pragma once
 
+#include "trajectory_execution_info.h"
 #include "utils.h"
 #include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/storage.h>
@@ -201,6 +202,14 @@ class Stage
 	/// marker namespace of solution markers
 	const std::string& markerNS() { return properties().get<std::string>("marker_ns"); }
 
+	/// Set and get info to use when executing the stage's trajectory
+	void setTrajectoryExecutionInfo(TrajectoryExecutionInfo trajectory_execution_info) {
+		setProperty("trajectory_execution_info", trajectory_execution_info);
+	}
+	TrajectoryExecutionInfo trajectoryExecutionInfo() {
+		return properties().get<TrajectoryExecutionInfo>("trajectory_execution_info");
+	}
+
 	/// forwarding of properties between interface states
 	void forwardProperties(const InterfaceState& source, InterfaceState& dest);
 	std::set<std::string> forwardedProperties() const {

core/include/moveit/task_constructor/trajectory_execution_info.h

@@ -0,0 +1,47 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2022, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
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+ *  are met:
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+ *   * Redistributions of source code must retain the above copyright
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+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Authors: Joe Schornak, Sebastian Jahr */
+
+#pragma once
+
+#include <moveit_task_constructor_msgs/msg/trajectory_execution_info.hpp>
+#include <string>
+#include <vector>
+
+namespace moveit {
+namespace task_constructor {
+using TrajectoryExecutionInfo = moveit_task_constructor_msgs::msg::TrajectoryExecutionInfo;
+}  // namespace task_constructor
+}  // namespace moveit

core/src/container.cpp

@@ -365,8 +365,13 @@ void ContainerBase::insert(Stage::pointer&& stage, int before) {
 	if (!stage)
 		throw std::runtime_error(name() + ": received invalid stage pointer");
 
+	if (stage->trajectoryExecutionInfo().controller_names.empty()) {
+		stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
+	}
+
 	StagePrivate* impl = stage->pimpl();
 	impl->setParent(this);
+
 	ContainerBasePrivate::const_iterator where = pimpl()->childByIndex(before, true);
 	ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage));
 	impl->setParentPosition(it);

core/src/stage.cpp

@@ -308,6 +308,8 @@ Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	auto& p = properties();
 	p.declare<double>("timeout", "timeout per run (s)");
 	p.declare<std::string>("marker_ns", name(), "marker namespace");
+	p.declare<TrajectoryExecutionInfo>("trajectory_execution_info", TrajectoryExecutionInfo(),
+	                                   "settings used when executing the trajectory");
 
 	p.declare<std::set<std::string>>("forwarded_properties", std::set<std::string>(),
 	                                 "set of interface properties to forward");

core/src/storage.cpp

@@ -229,6 +229,10 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::msg::Solution& msg, I
 	moveit_task_constructor_msgs::msg::SubTrajectory& t = msg.sub_trajectory.back();
 	SolutionBase::fillInfo(t.info, introspection);
 
+	const auto trajectory_execution_info =
+	    creator()->properties().get<TrajectoryExecutionInfo>("trajectory_execution_info");
+	t.execution_info = trajectory_execution_info;
+
 	if (trajectory())
 		trajectory()->getRobotTrajectoryMsg(t.trajectory);
 

msgs/CMakeLists.txt

@@ -18,6 +18,7 @@ set(msg_files
 	"msg/SubTrajectory.msg"
 	"msg/TaskDescription.msg"
 	"msg/TaskStatistics.msg"
+        "msg/TrajectoryExecutionInfo.msg"
 )
 
 set(srv_files

msgs/msg/SubTrajectory.msg

@@ -1,6 +1,9 @@
 # generic solution information
 SolutionInfo info
 
+# trajectory execution information, like controller configuration
+TrajectoryExecutionInfo execution_info
+
 # trajectory
 moveit_msgs/RobotTrajectory trajectory
 

msgs/msg/TrajectoryExecutionInfo.msg

@@ -0,0 +1,2 @@
+# List of controllers to use when executing the trajectory
+string[] controller_names