moveit2
The MoveIt Motion Planning Framework for ROS 2.
ros2_controllers.hpp
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34 
35 /* Author: David V. Lu!! */
36 
37 #pragma once
38 
41 
42 namespace moveit_setup
43 {
44 namespace controllers
45 {
47 {
48 public:
49  std::string getName() const override
50  {
51  return "ROS 2 Controllers";
52  }
53 
54  void onInit() override
55  {
56  config_data_->registerType("ros2_controllers", "moveit_setup::controllers::ROS2ControllersConfig");
57  config_data_->registerType("control_xacro", "moveit_setup::controllers::ControlXacroConfig");
58  srdf_config_ = config_data_->get<SRDFConfig>("srdf");
59  controllers_config_ = config_data_->get<ROS2ControllersConfig>("ros2_controllers");
60  }
61 
62  std::string getInstructions() const override
63  {
64  return "Configure ros2_controllers. By default, ros2_control fake_components are used to create a simple "
65  "simulation.";
66  }
67 
68  std::string getButtonText() const override
69  {
70  return "Auto Add &JointTrajectoryController \n Controllers For Each Planning Group";
71  }
72 
73  std::vector<std::string> getAvailableTypes() const override
74  {
75  return { "joint_trajectory_controller/JointTrajectoryController", "position_controllers/GripperActionController" };
76  }
77 
78  std::string getDefaultType() const override
79  {
80  return "joint_trajectory_controller/JointTrajectoryController";
81  }
82 };
83 } // namespace controllers
84 } // namespace moveit_setup
DataWarehousePtr config_data_
Definition: setup_step.hpp:97
std::shared_ptr< SRDFConfig > srdf_config_
std::shared_ptr< ControllersConfig > controllers_config_
std::string getDefaultType() const override
std::string getName() const override
Returns the name of the setup step.
std::vector< std::string > getAvailableTypes() const override
void onInit() override
Overridable initialization method.
std::string getInstructions() const override
std::string getButtonText() const override