cartesian_path_service_capability.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/get_cartesian_path.hpp>
#include <moveit_msgs/msg/display_trajectory.hpp>
 
namespace move_group
{
class MoveGroupCartesianPathService : public MoveGroupCapability
{
public:
  MoveGroupCartesianPathService();
 
  void initialize() override;
 
private:
  bool computeService(const std::shared_ptr<rmw_request_id_t>& request_header,
                      const std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Request>& req,
                      const std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Response>& res);
 
  rclcpp::Service<moveit_msgs::srv::GetCartesianPath>::SharedPtr cartesian_path_service_;
  rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory>::SharedPtr display_path_;
 
  bool display_computed_paths_;
};
}  // namespace move_group