moveit2
The MoveIt Motion Planning Framework for ROS 2.
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gripper_controller_plugin.cpp
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34
35/* Author: Joseph Schornak */
36
38#include <pluginlib/class_list_macros.hpp>
40#include <rclcpp/node.hpp>
41#include <memory>
42
44{
49{
50public:
51 moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr& node,
52 const std::string& name,
53 const std::vector<std::string>& /* resources */) override
54 {
55 return std::make_shared<moveit_simple_controller_manager::GripperControllerHandle>(node, name, "gripper_cmd");
56 }
57};
58
59} // namespace moveit_ros_control_interface
60
Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instance...
moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr &node, const std::string &name, const std::vector< std::string > &) override
PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::GripperControllerAllocator, moveit_ros_control_interface::ControllerHandleAllocator)