moveit2
The MoveIt Motion Planning Framework for ROS 2.
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move_group_sequence_service.h
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34
35#pragma once
36
37#include <rclcpp/service.hpp>
38
40
41#include <moveit_msgs/srv/get_motion_sequence.hpp>
42
44{
45// Forward declarations
46class CommandListManager;
47
53{
54public:
57
58 void initialize() override;
59
60private:
61 bool plan(const moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
62 const moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res);
63
64private:
65 rclcpp::Service<moveit_msgs::srv::GetMotionSequence>::SharedPtr sequence_service_;
66 std::unique_ptr<CommandListManager> command_list_manager_;
67};
68
69} // namespace pilz_industrial_motion_planner
Provide service to blend multiple trajectories in the form of a MoveGroup capability (plugin).