moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_planners
pilz_industrial_motion_planner
include
pilz_industrial_motion_planner
move_group_sequence_service.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2018 Pilz GmbH & Co. KG
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Pilz GmbH & Co. KG nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#pragma once
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#include <rclcpp/service.hpp>
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#include <
moveit/move_group/move_group_capability.h
>
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#include <moveit_msgs/srv/get_motion_sequence.hpp>
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namespace
pilz_industrial_motion_planner
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{
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// Forward declarations
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class
CommandListManager;
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class
MoveGroupSequenceService
:
public
move_group::MoveGroupCapability
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{
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public
:
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MoveGroupSequenceService
();
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~MoveGroupSequenceService
()
override
;
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void
initialize
()
override
;
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private
:
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bool
plan(
const
moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
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const
moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res);
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private
:
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rclcpp::Service<moveit_msgs::srv::GetMotionSequence>::SharedPtr sequence_service_;
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std::unique_ptr<CommandListManager> command_list_manager_;
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};
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}
// namespace pilz_industrial_motion_planner
move_group::MoveGroupCapability
Definition
move_group_capability.h:58
pilz_industrial_motion_planner::MoveGroupSequenceService
Provide service to blend multiple trajectories in the form of a MoveGroup capability (plugin).
Definition
move_group_sequence_service.h:53
pilz_industrial_motion_planner::MoveGroupSequenceService::initialize
void initialize() override
Definition
move_group_sequence_service.cpp:65
pilz_industrial_motion_planner::MoveGroupSequenceService::MoveGroupSequenceService
MoveGroupSequenceService()
Definition
move_group_sequence_service.cpp:57
pilz_industrial_motion_planner::MoveGroupSequenceService::~MoveGroupSequenceService
~MoveGroupSequenceService() override
Definition
move_group_sequence_service.cpp:61
move_group_capability.h
pilz_industrial_motion_planner
Definition
capability_names.h:40
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