moveit2
The MoveIt Motion Planning Framework for ROS 2.
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get_group_urdf_capability.h
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34
35/* Author: Sebastian Jahr
36 Desc: This capability creates an URDF string with joints and links of a requested joint model group */
37
38#pragma once
39
41#include <moveit_msgs/srv/get_group_urdf.hpp>
42
43namespace move_group
44{
50{
51public:
57
62 void initialize() override;
63
64private:
65 rclcpp::Service<moveit_msgs::srv::GetGroupUrdf>::SharedPtr get_urdf_service_;
66};
67} // namespace move_group
Move group capability to create an URDF string for a joint model group.
void initialize() override
Initializes service when plugin is loaded.