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getting the execution state when using MoveGroupInterface::executeAsync(..)

We need to execute asynchronously a moveit plan using the moveit::planning_interface::MoveGroupInterface class.

There is a method called executeAsync that looks fine. How could I check (using this same MoveGroupInterface object) when the execution process finished?

What would be the code c++ pattern to use executeAsync? There doesn't seem to be a getExecutionState function.

Note: Some others solutions could be creating a thread but we are looking for some already existing built-in solution.

I would be happy to do a pull request if this functionality is missing.

Asked by Pablo IƱigo Blasco on 2020-06-10 15:19:54 UTC

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