load_geometry_from_file_service_capability.h

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/* Author: Bilal Gill */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/load_geometry_from_file.hpp>
 
namespace move_group
{
class LoadGeometryFromFileService : public MoveGroupCapability
{
public:
  LoadGeometryFromFileService();
 
  void initialize() override;
 
private:
  rclcpp::Service<moveit_msgs::srv::LoadGeometryFromFile>::SharedPtr load_geometry_service_;
};
}  // namespace move_group