common_objects.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <memory>
#include <rclcpp/version.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/buffer.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#endif
#include <moveit/planning_scene_monitor/current_state_monitor.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
 
namespace moveit
{
namespace planning_interface
{
std::shared_ptr<tf2_ros::Buffer> getSharedTF();
 
robot_model_loader::RobotModelLoaderPtr getSharedRobotModelLoader(const rclcpp::Node::SharedPtr& node,
                                                                  const std::string& robot_description);
 
moveit::core::RobotModelConstPtr getSharedRobotModel(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);
}  // namespace planning_interface
}  // namespace moveit