start_screen.hpp

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#pragma once
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/data/package_settings_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
 
namespace moveit_setup
{
namespace core
{
class StartScreen : public SetupStep
{
public:
  std::string getName() const override
  {
    return "Start Screen";
  }
 
  void onInit() override;
 
  std::filesystem::path getURDFPath();
  std::string getXacroArgs();
  std::filesystem::path getPackagePath();
 
  bool isXacroFile();
 
  void loadURDFFile(const std::filesystem::path& urdf_file_path, const std::string& xacro_args);
 
  void loadExisting(const std::filesystem::path& package_path);
 
protected:
  std::shared_ptr<PackageSettingsConfig> package_settings_;
  std::shared_ptr<SRDFConfig> srdf_config_;
  std::shared_ptr<URDFConfig> urdf_config_;
};
}  // namespace core
}  // namespace moveit_setup