#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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Classes | |
| 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... | |
Namespaces | |
| namespace | moveit |
| Main namespace for MoveIt. | |
| namespace | moveit::core |
| Core components of MoveIt. | |
Functions | |
| moveit::core::RobotModelPtr | moveit::core::loadTestingRobotModel (const std::string &package_name, const std::string &urdf_relative_path, const std::string &srdf_relative_path) |
| Loads a robot model given a URDF and SRDF file in a package. | |
| moveit::core::RobotModelPtr | moveit::core::loadTestingRobotModel (const std::string &robot_name) |
| Loads a robot from moveit_resources. | |
| urdf::ModelInterfaceSharedPtr | moveit::core::loadModelInterface (const std::string &robot_name) |
| Loads a URDF Model Interface from moveit_resources. | |
| srdf::ModelSharedPtr | moveit::core::loadSRDFModel (const std::string &robot_name) |
| Loads an SRDF Model from moveit_resources. | |
| 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. | |
