40 #include <moveit_msgs/srv/query_planner_interfaces.hpp>
41 #include <moveit_msgs/srv/get_planner_params.hpp>
42 #include <moveit_msgs/srv/set_planner_params.hpp>
54 bool queryInterface(
const std::shared_ptr<rmw_request_id_t>& request_header,
55 const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Request>& ,
56 const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Response>& res);
58 bool getParams(
const std::shared_ptr<rmw_request_id_t>& request_header,
59 const std::shared_ptr<moveit_msgs::srv::GetPlannerParams::Request>& req,
60 const std::shared_ptr<moveit_msgs::srv::GetPlannerParams::Response>& res);
61 bool setParams(
const std::shared_ptr<rmw_request_id_t>& request_header,
62 const std::shared_ptr<moveit_msgs::srv::SetPlannerParams::Request>& req,
63 const std::shared_ptr<moveit_msgs::srv::SetPlannerParams::Response>& );
65 rclcpp::Service<moveit_msgs::srv::QueryPlannerInterfaces>::SharedPtr query_service_;
66 rclcpp::Service<moveit_msgs::srv::GetPlannerParams>::SharedPtr get_service_;
67 rclcpp::Service<moveit_msgs::srv::SetPlannerParams>::SharedPtr set_service_;