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)
61 rclcpp::Node::SharedPtr node_ptr_;
62 std::shared_ptr<
moveit_cpp::MoveItCpp> moveit_cpp_;