moveit2
The MoveIt Motion Planning Framework for ROS 2.
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move_group::GetUrdfService Class Reference

Move group capability to create an URDF string for a joint model group. More...

#include <get_group_urdf_capability.h>

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Public Member Functions

 GetUrdfService ()
 Constructor. More...
 
void initialize () override
 Initializes service when plugin is loaded. More...
 
- Public Member Functions inherited from move_group::MoveGroupCapability
 MoveGroupCapability (const std::string &capability_name)
 
virtual ~MoveGroupCapability ()
 
void setContext (const MoveGroupContextPtr &context)
 
const std::string & getName () const
 

Additional Inherited Members

- Protected Member Functions inherited from move_group::MoveGroupCapability
std::string getActionResultString (const moveit_msgs::msg::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
 
std::string stateToStr (MoveGroupState state) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, std::vector< moveit_msgs::msg::RobotTrajectory > &trajectory_msg) const
 
void convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
 
planning_interface::MotionPlanRequest clearRequestStartState (const planning_interface::MotionPlanRequest &request) const
 
moveit_msgs::msg::PlanningScene clearSceneRobotState (const moveit_msgs::msg::PlanningScene &scene) const
 
bool performTransform (geometry_msgs::msg::PoseStamped &pose_msg, const std::string &target_frame) const
 
planning_pipeline::PlanningPipelinePtr resolvePlanningPipeline (const std::string &pipeline_id) const
 
- Protected Attributes inherited from move_group::MoveGroupCapability
std::string capability_name_
 
MoveGroupContextPtr context_
 

Detailed Description

Move group capability to create an URDF string for a joint model group.

Definition at line 49 of file get_group_urdf_capability.h.

Constructor & Destructor Documentation

◆ GetUrdfService()

move_group::GetUrdfService::GetUrdfService ( )

Constructor.

Definition at line 59 of file get_group_urdf_capability.cpp.

Member Function Documentation

◆ initialize()

void move_group::GetUrdfService::initialize ( )
overridevirtual

Initializes service when plugin is loaded.

Implements move_group::MoveGroupCapability.

Definition at line 63 of file get_group_urdf_capability.cpp.

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The documentation for this class was generated from the following files: