moveit2
The MoveIt Motion Planning Framework for ROS 2.
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empty_controller_plugin.cpp
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34
35/* Author: Paul Gesel */
36
37#include <pluginlib/class_list_macros.hpp>
39#include <rclcpp/node.hpp>
40
42{
52{
53public:
54 moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr& /* node */,
55 const std::string& name,
56 const std::vector<std::string>& /* resources */) override
57 {
58 return std::make_shared<moveit_simple_controller_manager::EmptyControllerHandle>(name, "empty_controller_handle");
59 }
60};
61} // namespace moveit_ros_control_interface
62
This class allows MoveIt's controller manager to start and stop a controller that does not have a cor...
moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr &, const std::string &name, const std::vector< std::string > &) override
PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::EmptyControllerAllocator, moveit_ros_control_interface::ControllerHandleAllocator)