[moveit_cpp] Return ExecutionStatus in execute

MIGRATION.md

@@ -16,6 +16,7 @@ API changes in MoveIt releases
 - add API for passing RNG to setToRandomPositionsNearBy
 - Static member variable interface of the CollisionDetectorAllocatorTemplate for the string NAME was replaced with a virtual method `getName`.
 - Enhance `RDFLoader` to load from string parameter OR string topic (and add the ability to publish a string topic).
+- `MoveItCpp::execute` now returns a `moveit_controller_manager::ExecutionStatus` rather than a `bool`. A `moveit_controller_manager::ExecutionStatus` is automatically casted to a `bool`, so that no changes in the user's code should be required.
 
 ## ROS Noetic
 - RobotModel no longer overrides empty URDF collision geometry by matching the visual geometry of the link.

moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h

@@ -40,6 +40,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <moveit/controller_manager/controller_manager.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
@@ -167,8 +168,9 @@ class MoveItCpp
 
   /** \brief Execute a trajectory on the planning group specified by group_name using the trajectory execution manager.
    * If blocking is set to false, the execution is run in background and the function returns immediately. */
-  bool execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
-               bool blocking = true);
+  moveit_controller_manager::ExecutionStatus execute(const std::string& group_name,
+                                                     const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
+                                                     bool blocking = true);
 
 private:
   //  Core properties and instances

moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp

@@ -35,6 +35,8 @@
 /* Author: Henning Kayser */
 
 #include <stdexcept>
+
+#include <moveit/controller_manager/controller_manager.h>
 #include <moveit/moveit_cpp/moveit_cpp.h>
 #if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -247,20 +249,21 @@ trajectory_execution_manager::TrajectoryExecutionManagerPtr MoveItCpp::getTrajec
   return trajectory_execution_manager_;
 }
 
-bool MoveItCpp::execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
-                        bool blocking)
+moveit_controller_manager::ExecutionStatus
+MoveItCpp::execute(const std::string& group_name, const robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
+                   bool blocking)
 {
   if (!robot_trajectory)
   {
     RCLCPP_ERROR(LOGGER, "Robot trajectory is undefined");
-    return false;
+    return moveit_controller_manager::ExecutionStatus::ABORTED;
   }
 
   // Check if there are controllers that can handle the execution
   if (!trajectory_execution_manager_->ensureActiveControllersForGroup(group_name))
   {
     RCLCPP_ERROR(LOGGER, "Execution failed! No active controllers configured for group '%s'", group_name.c_str());
-    return false;
+    return moveit_controller_manager::ExecutionStatus::ABORTED;
   }
 
   // Execute trajectory
@@ -273,7 +276,7 @@ bool MoveItCpp::execute(const std::string& group_name, const robot_trajectory::R
     return trajectory_execution_manager_->waitForExecution();
   }
   trajectory_execution_manager_->pushAndExecute(robot_trajectory_msg);
-  return true;
+  return moveit_controller_manager::ExecutionStatus::RUNNING;
 }
 
 const std::shared_ptr<tf2_ros::Buffer>& MoveItCpp::getTFBuffer() const