moveit2
The MoveIt Motion Planning Framework for ROS 2.
query_planners_service_capability.h
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34 
35 /* Author: Ioan Sucan, Robert Haschke */
36 
37 #pragma once
38 
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>
43 
44 namespace move_group
45 {
47 {
48 public:
50 
51  void initialize() override;
52 
53 private:
54  bool queryInterface(const std::shared_ptr<rmw_request_id_t>& request_header,
55  const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Request>& /*req*/,
56  const std::shared_ptr<moveit_msgs::srv::QueryPlannerInterfaces::Response>& res);
57 
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>& /*res*/);
64 
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_;
68 };
69 } // namespace move_group