moveit2
The MoveIt Motion Planning Framework for ROS 2.
cartesian_path_service_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 #include <moveit_msgs/srv/get_cartesian_path.hpp>
41 #include <moveit_msgs/msg/display_trajectory.hpp>
42 
43 namespace move_group
44 {
46 {
47 public:
49 
50  void initialize() override;
51 
52 private:
53  bool computeService(const std::shared_ptr<rmw_request_id_t>& request_header,
54  const std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Request>& req,
55  const std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Response>& res);
56 
57  rclcpp::Service<moveit_msgs::srv::GetCartesianPath>::SharedPtr cartesian_path_service_;
58  rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory>::SharedPtr display_path_;
59 
60  bool display_computed_paths_;
61 };
62 } // namespace move_group