moveit2
The MoveIt Motion Planning Framework for ROS 2.
move_group_sequence_service.h
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34 
35 #pragma once
36 
37 #include <rclcpp/service.hpp>
38 
40 
41 #include <moveit_msgs/srv/get_motion_sequence.hpp>
42 
44 {
45 // Forward declarations
46 class CommandListManager;
47 
53 {
54 public:
56  ~MoveGroupSequenceService() override;
57 
58  void initialize() override;
59 
60 private:
61  bool plan(const moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
62  const moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res);
63 
64 private:
65  rclcpp::Service<moveit_msgs::srv::GetMotionSequence>::SharedPtr sequence_service_;
66  std::unique_ptr<CommandListManager> command_list_manager_;
67 };
68 
69 } // namespace pilz_industrial_motion_planner
Provide service to blend multiple trajectories in the form of a MoveGroup capability (plugin).
Definition: plan.py:1