moveit2
The MoveIt Motion Planning Framework for ROS 2.
common_objects.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <memory>
40 #include <tf2_ros/buffer.h>
43 
44 namespace moveit
45 {
47 {
48 std::shared_ptr<tf2_ros::Buffer> getSharedTF();
49 
50 robot_model_loader::RobotModelLoaderPtr getSharedRobotModelLoader(const rclcpp::Node::SharedPtr& node,
51  const std::string& robot_description);
52 
53 moveit::core::RobotModelConstPtr getSharedRobotModel(const rclcpp::Node::SharedPtr& node,
54  const std::string& robot_description);
55 
64 planning_scene_monitor::CurrentStateMonitorPtr
65 getSharedStateMonitor(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
66  const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
67 } // namespace planning_interface
68 } // namespace moveit
moveit::core::RobotModelConstPtr getSharedRobotModel(const rclcpp::Node::SharedPtr &node, const std::string &robot_description)
std::shared_ptr< tf2_ros::Buffer > getSharedTF()
robot_model_loader::RobotModelLoaderPtr getSharedRobotModelLoader(const rclcpp::Node::SharedPtr &node, const std::string &robot_description)
planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer)
getSharedStateMonitor
Main namespace for MoveIt.
Definition: exceptions.h:43
This namespace includes the base class for MoveIt planners.