gripper_controller_plugin.cpp

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/* Author: Joseph Schornak */
 
#include <moveit_ros_control_interface/ControllerHandle.h>
#include <pluginlib/class_list_macros.hpp>
#include <moveit_simple_controller_manager/gripper_controller_handle.h>
#include <rclcpp/node.hpp>
#include <memory>
 
namespace moveit_ros_control_interface
{
class GripperControllerAllocator : public ControllerHandleAllocator
{
public:
  moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr& node,
                                                             const std::string& name,
                                                             const std::vector<std::string>& /* resources */) override
  {
    return std::make_shared<moveit_simple_controller_manager::GripperControllerHandle>(node, name, "gripper_cmd");
  }
};
 
}  // namespace moveit_ros_control_interface
 
PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::GripperControllerAllocator,
                       moveit_ros_control_interface::ControllerHandleAllocator);