moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_planning_pipeline.h
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34
35/* Author: Sebastian Jahr
36 Description: Global planner plugin that utilizes MoveIt's planning pipeline accessed via the MoveItCpp API*/
37
38#pragma once
39
40#include <rclcpp/rclcpp.hpp>
42
43// MoveitCpp
46
48{
50{
51public:
53 ~MoveItPlanningPipeline() override = default;
54 bool initialize(const rclcpp::Node::SharedPtr& node) override;
55 bool reset() noexcept override;
56 moveit_msgs::msg::MotionPlanResponse
57 plan(const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>> global_goal_handle)
58 override;
59
60private:
61 rclcpp::Node::SharedPtr node_ptr_;
62 std::shared_ptr<moveit_cpp::MoveItCpp> moveit_cpp_;
63};
64} // namespace moveit::hybrid_planning
moveit_msgs::msg::MotionPlanResponse plan(const std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::GlobalPlanner > > global_goal_handle) override
bool initialize(const rclcpp::Node::SharedPtr &node) override