ros2_controllers.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/ros2_controllers_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
class ROS2Controllers : public Controllers
{
public:
  std::string getName() const override
  {
    return "ROS 2 Controllers";
  }
 
  void onInit() override
  {
    config_data_->registerType("ros2_controllers", "moveit_setup::controllers::ROS2ControllersConfig");
    config_data_->registerType("control_xacro", "moveit_setup::controllers::ControlXacroConfig");
    srdf_config_ = config_data_->get<SRDFConfig>("srdf");
    controllers_config_ = config_data_->get<ROS2ControllersConfig>("ros2_controllers");
  }
 
  std::string getInstructions() const override
  {
    return "Configure ros2_controllers. By default, ros2_control fake_components are used to create a simple "
           "simulation.";
  }
 
  std::string getButtonText() const override
  {
    return "Auto Add &JointTrajectoryController \n Controllers For Each Planning Group";
  }
 
  std::vector<std::string> getAvailableTypes() const override
  {
    return { "joint_trajectory_controller/JointTrajectoryController", "position_controllers/GripperActionController" };
  }
 
  std::string getDefaultType() const override
  {
    return "joint_trajectory_controller/JointTrajectoryController";
  }
};
}  // namespace controllers
}  // namespace moveit_setup