ros2_controllers_config.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/controllers_config.hpp>
#include <moveit_setup_controllers/control_xacro_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
static const std::string CONTROLLERS_YAML = "config/ros2_controllers.yaml";
class ROS2ControllersConfig : public ControllersConfig
{
public:
  void onInit() override;
  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
 
  const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const;
 
  class GeneratedControllersConfig : public YamlGeneratedFile
  {
  public:
    GeneratedControllersConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                               ROS2ControllersConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    bool hasChanges() const override
    {
      return parent_.changed_ || parent_.hasChangedGroups();
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return CONTROLLERS_YAML;
    }
 
    std::string getDescription() const override
    {
      return "Creates configurations for ros2_controllers.";
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    ROS2ControllersConfig& parent_;
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedControllersConfig>(package_path, last_gen_time, *this));
  }
 
protected:
  std::shared_ptr<ControlXacroConfig> control_xacro_config_;
};
}  // namespace controllers
}  // namespace moveit_setup