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Background_processing module #55

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merged 3 commits into from
Apr 11, 2019
Merged

Background_processing module #55

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f1e1689
Adapt background_processing to logging dicussion
vmayoral Mar 24, 2019
51d3c90
Apply clang format
vmayoral Mar 24, 2019
a3db528
Port background_processing to ROS 2
vmayoral Mar 24, 2019
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13 changes: 9 additions & 4 deletions moveit_core/background_processing/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,15 @@ set(MOVEIT_LIB_NAME moveit_background_processing)
add_library(${MOVEIT_LIB_NAME} src/background_processing.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
target_link_libraries(${MOVEIT_LIB_NAME}
${rclcpp_LIBRARIES}
${rmw_implementation_LIBRARIES}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
${Boost_LIBRARIES})

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
4 changes: 2 additions & 2 deletions ...t_core/background_processing/include/moveit/background_processing/background_processing.h
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Expand Up @@ -111,7 +111,7 @@ class BackgroundProcessing : private boost::noncopyable

void processingThread();
};
}
}
} // namespace tools
} // namespace moveit

#endif
14 changes: 8 additions & 6 deletions moveit_core/background_processing/src/background_processing.cpp
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Expand Up @@ -35,12 +35,15 @@
/* Author: Ioan Sucan */

#include <moveit/background_processing/background_processing.h>
#include <ros/console.h>
#include "rclcpp/rclcpp.hpp"

namespace moveit
{
namespace tools
{
// Logger
rclcpp::Logger LOGGER = rclcpp::get_logger("background_processing");
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BackgroundProcessing::BackgroundProcessing()
{
// spin a thread that will process user events
Expand Down Expand Up @@ -77,14 +80,13 @@ void BackgroundProcessing::processingThread()
action_lock_.unlock();
try
{
ROS_DEBUG_NAMED("background_processing", "Begin executing '%s'", action_name.c_str());
RCLCPP_DEBUG(LOGGER, "Begin executing '%s'", action_name.c_str());
fn();
ROS_DEBUG_NAMED("background_processing", "Done executing '%s'", action_name.c_str());
RCLCPP_DEBUG(LOGGER, "Done executing '%s'", action_name.c_str());
}
catch (std::exception& ex)
{
ROS_ERROR_NAMED("background_processing", "Exception caught while processing action '%s': %s",
action_name.c_str(), ex.what());
RCLCPP_ERROR(LOGGER, "Exception caught while processing action '%s': %s", action_name.c_str(), ex.what());
}
processing_ = false;
if (queue_change_event_)
Expand Down Expand Up @@ -139,4 +141,4 @@ void BackgroundProcessing::clearJobUpdateEvent()
}

} // end of namespace tools
} // end of namespace moveit
} // end of namespace moveit