moveit2
The MoveIt Motion Planning Framework for ROS 2.
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 {
53 public:
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)
name
Definition: setup.py:7