move_group_sequence_service.h

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#pragma once
 
#include <rclcpp/service.hpp>
 
#include <moveit/move_group/move_group_capability.h>
 
#include <moveit_msgs/srv/get_motion_sequence.hpp>
 
namespace pilz_industrial_motion_planner
{
// Forward declarations
class CommandListManager;
 
class MoveGroupSequenceService : public move_group::MoveGroupCapability
{
public:
  MoveGroupSequenceService();
  ~MoveGroupSequenceService() override;
 
  void initialize() override;
 
private:
  bool plan(const moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
            const moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res);
 
private:
  rclcpp::Service<moveit_msgs::srv::GetMotionSequence>::SharedPtr sequence_service_;
  std::unique_ptr<CommandListManager> command_list_manager_;
};
 
}  // namespace pilz_industrial_motion_planner