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

Inheritance diagram for move_group::GetUrdfService:

Collaboration diagram for move_group::GetUrdfService:

Public Member Functions
	GetUrdfService ()
	Constructor.

void	initialize () override
	Initializes service when plugin is loaded.

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_