launches.cpp

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/* Author: David V. Lu!! */
#include <moveit_setup_app_plugins/launches.hpp>
 
namespace moveit_setup
{
namespace app
{
void Launches::onInit()
{
  config_data_->registerType("launches", "moveit_setup::app::LaunchesConfig");
  launches_config_ = config_data_->get<LaunchesConfig>("launches");
 
  available_launch_bundles_.push_back(
      LaunchBundle("Robot State Publisher Launch",
                   "Launch file to publish the robot description and transforms generated by the joint states.", "rsp",
                   { "robot_state_publisher" }));
  available_launch_bundles_.push_back(
      LaunchBundle("RViz Launch and Config",
                   "Visualize in Rviz the robot's planning groups running with interactive "
                   "markers that allow goal states to be set.",
                   "moveit_rviz", { "rviz2", "rviz_common", "rviz_default_plugins", "moveit_ros_visualization" }));
  available_launch_bundles_.back().addFile(
      "config/moveit.rviz", "Configuration file for Rviz with the Motion Planning Plugin already setup.");
  available_launch_bundles_.push_back(LaunchBundle(
      "MoveGroup Launch", "Launch file to run the main MoveIt executable that provides the MoveGroup action",
      "move_group", { "moveit_ros_move_group" }));
  available_launch_bundles_.push_back(LaunchBundle("Static TF Launch",
                                                   "Launch file to broadcast static TF for the robot's virtual joints.",
                                                   "static_virtual_joint_tfs", { "tf2_ros" }));
  available_launch_bundles_.push_back(LaunchBundle("Spawn Controllers Launch",
                                                   "Launch file to spawn the necessary controllers",
                                                   "spawn_controllers", { "controller_manager" }));
  available_launch_bundles_.push_back(LaunchBundle("Demo Launch",
                                                   "Launch file to run a demo of MoveGroup. Warning that it requires "
                                                   "the above launch files to all be generated as well.",
                                                   "demo"));
 
  available_launch_bundles_.push_back(LaunchBundle("Setup Assistant Launch",
                                                   "Launch file for easily re-starting the MoveIt "
                                                   "Setup Assistant to edit this robot's generated "
                                                   "configuration package.",
                                                   "setup_assistant", { "moveit_setup_assistant" }));
  available_launch_bundles_.push_back(LaunchBundle("Warehouse DB Launch",
                                                   "Launch file for starting the warehouse with a default MongoDB.",
                                                   "warehouse_db", { "warehouse_ros_mongo", "moveit_ros_warehouse" }));
 
  for (unsigned int i = 0; i < available_launch_bundles_.size(); i++)
  {
    available_launch_bundles_[i].setID(i);
 
    // By default, we start with all the launch bundles included
    launches_config_->include(available_launch_bundles_[i]);
  }
}
 
bool Launches::getState(unsigned int id) const
{
  return launches_config_->isIncluded(available_launch_bundles_[id]);
}
 
void Launches::setState(unsigned int id, bool state)
{
  const LaunchBundle& bundle = available_launch_bundles_[id];
  if (state)
  {
    launches_config_->include(bundle);
  }
  else
  {
    launches_config_->remove(bundle);
  }
}
}  // namespace app
}  // namespace moveit_setup