list.cpp

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/* Author: Ioan Sucan */
 
#include <pluginlib/class_loader.hpp>
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <rclcpp/node.hpp>
#include <rclcpp/utilities.hpp>
#include <memory>
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
 
  auto node = std::make_shared<rclcpp::Node>("list_planning_adapter_plugins");
 
  std::unique_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter>> loader;
  try
  {
    loader = std::make_unique<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter>>(
        "moveit_core", "planning_request_adapter::PlanningRequestAdapter");
  }
  catch (pluginlib::PluginlibException& ex)
  {
    std::cout << "Exception while creating class loader " << ex.what() << '\n';
  }
 
  const std::vector<std::string>& classes = loader->getDeclaredClasses();
  std::cout << "Available planning request adapter plugins:" << '\n';
  for (const std::string& adapter_plugin_name : classes)
  {
    std::cout << " \t " << adapter_plugin_name << '\n';
    planning_request_adapter::PlanningRequestAdapterConstPtr ad;
    try
    {
      ad = loader->createUniqueInstance(adapter_plugin_name);
    }
    catch (pluginlib::PluginlibException& ex)
    {
      std::cout << " \t\t  Exception while planning adapter plugin '" << adapter_plugin_name << "': " << ex.what()
                << '\n';
    }
    if (ad)
      std::cout << " \t\t  " << ad->getDescription() << '\n';
    std::cout << '\n' << '\n';
  }
  rclcpp::shutdown();
  return 0;
}