query_planners_service_capability.h

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/* Author: Ioan Sucan, Robert Haschke */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/query_planner_interfaces.hpp>
#include <moveit_msgs/srv/get_planner_params.hpp>
#include <moveit_msgs/srv/set_planner_params.hpp>
 
namespace move_group
{
class MoveGroupQueryPlannersService : public MoveGroupCapability
{
public:
  MoveGroupQueryPlannersService();
 
  void initialize() override;
 
private:
  bool queryInterface(const std::shared_ptr<rmw_request_id_t>& request_header,
                      const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Request>& /*req*/,
                      const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Response>& res);
 
  bool getParams(const std::shared_ptr<rmw_request_id_t>& request_header,
                 const std::shared_ptr<moveit_msgs::srv::GetPlannerParams::Request>& req,
                 const std::shared_ptr<moveit_msgs::srv::GetPlannerParams::Response>& res);
  bool setParams(const std::shared_ptr<rmw_request_id_t>& request_header,
                 const std::shared_ptr<moveit_msgs::srv::SetPlannerParams::Request>& req,
                 const std::shared_ptr<moveit_msgs::srv::SetPlannerParams::Response>& /*res*/);
 
  rclcpp::Service<moveit_msgs::srv::QueryPlannerInterfaces>::SharedPtr query_service_;
  rclcpp::Service<moveit_msgs::srv::GetPlannerParams>::SharedPtr get_service_;
  rclcpp::Service<moveit_msgs::srv::SetPlannerParams>::SharedPtr set_service_;
};
}  // namespace move_group