(ros_planning) get configuration values of traj_exec_man

Author: MatthijsBurgh

moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h

@@ -193,24 +193,42 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager
   /// longer than expected, the trajectory is canceled
   void enableExecutionDurationMonitoring(bool flag);
 
+  /// Get the current status of the monitoring of trajectory execution duration.
+  bool ExecutionDurationMonitoring() const;
+
   /// When determining the expected duration of a trajectory, this multiplicative factor is applied
   /// to get the allowed duration of execution
   void setAllowedExecutionDurationScaling(double scaling);
 
+  /// Get the current scaling of the duration of a trajectory to get the allowed duration of execution.
+  double AllowedExecutionDurationScaling() const;
+
   /// When determining the expected duration of a trajectory, this multiplicative factor is applied
   /// to allow more than the expected execution time before triggering trajectory cancel
   void setAllowedGoalDurationMargin(double margin);
 
+  /// Get the current margin of the duration of a trajectory to get the allowed duration of execution.
+  double AllowedGoalDurationMargin() const;
+
   /// Before sending a trajectory to a controller, scale the velocities by the factor specified.
   /// By default, this is 1.0
   void setExecutionVelocityScaling(double scaling);
 
+  /// Get the current scaling of the execution velocities.
+  double ExecutionVelocityScaling() const;
+
   /// Set joint-value tolerance for validating trajectory's start point against current robot state
   void setAllowedStartTolerance(double tolerance);
 
+  /// Get the current joint-value for validating trajectory's start point against current robot state.
+  double AllowedStartTolerance() const;
+
   /// Enable or disable waiting for trajectory completion
   void setWaitForTrajectoryCompletion(bool flag);
 
+  /// Get the current state of waiting for the trajectory being completed.
+  bool WaitForTrajectoryCompletion() const;
+
   rclcpp::Node::SharedPtr getControllerManagerNode()
   {
     return controller_mgr_node_;

moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp

@@ -255,31 +255,61 @@ void TrajectoryExecutionManager::enableExecutionDurationMonitoring(bool flag)
   execution_duration_monitoring_ = flag;
 }
 
+bool TrajectoryExecutionManager::ExecutionDurationMonitoring() const
+{
+  return execution_duration_monitoring_;
+}
+
 void TrajectoryExecutionManager::setAllowedExecutionDurationScaling(double scaling)
 {
   allowed_execution_duration_scaling_ = scaling;
 }
 
+double TrajectoryExecutionManager::AllowedExecutionDurationScaling() const
+{
+  return allowed_execution_duration_scaling_;
+}
+
 void TrajectoryExecutionManager::setAllowedGoalDurationMargin(double margin)
 {
   allowed_goal_duration_margin_ = margin;
 }
 
+double TrajectoryExecutionManager::AllowedGoalDurationMargin() const
+{
+  return allowed_goal_duration_margin_;
+}
+
 void TrajectoryExecutionManager::setExecutionVelocityScaling(double scaling)
 {
   execution_velocity_scaling_ = scaling;
 }
 
+double TrajectoryExecutionManager::ExecutionVelocityScaling() const
+{
+  return execution_velocity_scaling_;
+}
+
 void TrajectoryExecutionManager::setAllowedStartTolerance(double tolerance)
 {
   allowed_start_tolerance_ = tolerance;
 }
 
+double TrajectoryExecutionManager::AllowedStartTolerance() const
+{
+  return allowed_start_tolerance_;
+}
+
 void TrajectoryExecutionManager::setWaitForTrajectoryCompletion(bool flag)
 {
   wait_for_trajectory_completion_ = flag;
 }
 
+bool TrajectoryExecutionManager::WaitForTrajectoryCompletion() const
+{
+  return wait_for_trajectory_completion_;
+}
+
 bool TrajectoryExecutionManager::isManagingControllers() const
 {
   return manage_controllers_;