moveit2
The MoveIt Motion Planning Framework for ROS 2.
joint_trajectory_controller_plugin.cpp
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34 
35 /* Author: Mathias Lüdtke */
36 
38 #include <pluginlib/class_list_macros.hpp>
40 #include <rclcpp/node.hpp>
41 #include <memory>
42 
44 {
49 {
50 public:
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::FollowJointTrajectoryControllerHandle>(
56  node, name, "follow_joint_trajectory");
57  }
58 };
59 
60 } // namespace moveit_ros_control_interface
61 
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::JointTrajectoryControllerAllocator, moveit_ros_control_interface::ControllerHandleAllocator)
name
Definition: setup.py:7