moveit2
The MoveIt Motion Planning Framework for ROS 2.
plan_service_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 #include <moveit_msgs/srv/get_motion_plan.hpp>
41 
42 namespace move_group
43 {
45 {
46 public:
48 
49  void initialize() override;
50 
51 private:
52  bool computePlanService(const std::shared_ptr<rmw_request_id_t>& request_header,
53  const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Request>& req,
54  const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Response>& res);
55 
56  rclcpp::Service<moveit_msgs::srv::GetMotionPlan>::SharedPtr plan_service_;
57 };
58 } // namespace move_group