moveit2
The MoveIt Motion Planning Framework for ROS 2.
ros2_controllers_config.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 {
46 static const std::string CONTROLLERS_YAML = "config/ros2_controllers.yaml";
48 {
49 public:
50  void onInit() override;
51  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
52 
53  const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const;
54 
56  {
57  public:
58  GeneratedControllersConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
59  ROS2ControllersConfig& parent)
60  : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
61  {
62  }
63 
64  bool hasChanges() const override
65  {
67  }
68 
69  std::filesystem::path getRelativePath() const override
70  {
71  return CONTROLLERS_YAML;
72  }
73 
74  std::string getDescription() const override
75  {
76  return "Creates configurations for ros2_controllers.";
77  }
78 
79  bool writeYaml(YAML::Emitter& emitter) override;
80 
81  protected:
83  };
84 
85  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
86  std::vector<GeneratedFilePtr>& files) override
87  {
88  files.push_back(std::make_shared<GeneratedControllersConfig>(package_path, last_gen_time, *this));
89  }
90 
91 protected:
92  std::shared_ptr<ControlXacroConfig> control_xacro_config_;
93 };
94 } // namespace controllers
95 } // namespace moveit_setup
All the controller configurations.
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
std::string getDescription() const override
Returns an English description of this file's purpose.
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
GeneratedControllersConfig(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, ROS2ControllersConfig &parent)
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Collect the files generated by this configuration and add them to the vector.
void onInit() override
Overridable initialization method.
const ControlInterfaces getControlInterfaces(const std::vector< std::string > &joint_names) const
std::shared_ptr< ControlXacroConfig > control_xacro_config_
void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
std::filesystem::file_time_type GeneratedTime