Handle all grasp candidates and use Stage's timeout property #2
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This stage uses action messages to communicate with an action server external to MTC. The action server can use machine learning pipelines to sample grasps given a point cloud/depth image. This removes complex dependencies from MTC. The stage sends a request for grasps. If a time out is reached or no grasps are found then planning fails. This stage uses a template parameter which is the action message and inherits from an action base class. This allows other stages to inherit these properties and use action messages.
The action base class can only be used with the action msg GraspPlanning.action from grasping_msgs.
The grasp detection flag is an atomic bool. The scope of the grasp candidate's mutex has been moved.
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1- Replace
goal_timeoutmember variable with Stage'stimeoutproperty2- Make
grasp_candidates_a queue of vector of grasp candidates to make sure to handle all feedback message with thread safety