moveit_controllers.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/moveit_controllers_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
class MoveItControllers : public Controllers
{
public:
  std::string getName() const override
  {
    return "MoveIt Controllers";
  }
 
  void onInit() override
  {
    config_data_->registerType("moveit_controllers", "moveit_setup::controllers::MoveItControllersConfig");
    srdf_config_ = config_data_->get<SRDFConfig>("srdf");
    controllers_config_ = config_data_->get<MoveItControllersConfig>("moveit_controllers");
  }
 
  std::string getInstructions() const override
  {
    return "Configure controllers to be used in executing trajectories with MoveIt (hardware or simulation).";
  }
 
  std::string getButtonText() const override
  {
    return "Auto Add &FollowJointsTrajectory \n Controllers For Each Planning Group";
  }
 
  std::vector<std::string> getAvailableTypes() const override
  {
    return { "FollowJointTrajectory", "GripperCommand" };
  }
 
  std::string getDefaultType() const override
  {
    return "FollowJointTrajectory";
  }
 
  class ActionNamespaceField : public AdditionalControllerField
  {
  public:
    ActionNamespaceField() : AdditionalControllerField("Action Namespace", "action_ns")
    {
    }
    std::string getDefaultValue(const std::string& controller_type) const override
    {
      if (controller_type == "FollowJointTrajectory")
      {
        return "follow_joint_trajectory";
      }
      else if (controller_type == "GripperCommand")
      {
        return "gripper_cmd";
      }
      else
      {
        return "";
      }
    }
  };
 
  class DefaultField : public AdditionalControllerField
  {
  public:
    DefaultField() : AdditionalControllerField("Default", "default")
    {
    }
    std::string getDefaultValue(const std::string& /*controller_type*/) const override
    {
      return "true";
    }
  };
 
  FieldPointers getAdditionalControllerFields() const override
  {
    FieldPointers fields;
    fields.push_back(std::make_shared<ActionNamespaceField>());
    fields.push_back(std::make_shared<DefaultField>());
    return fields;
  }
};
}  // namespace controllers
}  // namespace moveit_setup