The MoveIt Motion Planning Framework for ROS 2.
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robot_model_test_utils.h File Reference
#include <srdfdom/srdf_writer.h>
#include <urdf/model.h>
#include <moveit/robot_model/robot_model.h>
#include <geometry_msgs/msg/pose.hpp>
#include <rclcpp/node.hpp>
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class  moveit::core::RobotModelBuilder
 Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example: More...


 Main namespace for MoveIt.
 Core components of MoveIt.


moveit::core::RobotModelPtr moveit::core::loadTestingRobotModel (const std::string &robot_name)
 Loads a robot from moveit_resources. More...
urdf::ModelInterfaceSharedPtr moveit::core::loadModelInterface (const std::string &robot_name)
 Loads a URDF Model Interface from moveit_resources. More...
srdf::ModelSharedPtr moveit::core::loadSRDFModel (const std::string &robot_name)
 Loads an SRDF Model from moveit_resources. More...
void moveit::core::loadIKPluginForGroup (const rclcpp::Node::SharedPtr &node, JointModelGroup *jmg, const std::string &base_link, const std::string &tip_link, std::string plugin="KDL", double timeout=0.1)
 Load an IK solver plugin for the given joint model group. More...