get_group_urdf_capability.h

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/* Author: Sebastian Jahr
   Desc: This capability creates an URDF string with joints and links of a requested joint model group */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/get_group_urdf.hpp>
 
namespace move_group
{
class GetUrdfService : public MoveGroupCapability
{
public:
  GetUrdfService();
 
  void initialize() override;
 
private:
  rclcpp::Service<moveit_msgs::srv::GetGroupUrdf>::SharedPtr get_urdf_service_;
};
}  // namespace move_group