urdf_modifications.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_controllers/control_xacro_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
class UrdfModifications : public SetupStep
{
public:
  std::string getName() const override
  {
    return "ros2_control URDF Modifications";
  }
 
  void onInit() override;
 
  bool isReady() const override
  {
    return !srdf_config_->getGroups().empty();
  }
 
  void refresh()
  {
    control_xacro_config_->loadFromDescription();
  }
 
  bool needsModification() const;
 
  void setInterfaces(const std::vector<std::string>& command_interfaces,
                     const std::vector<std::string>& state_interfaces);
 
  std::string getJointsXML() const
  {
    return control_xacro_config_->getJointsXML();
  }
 
  const ControlInterfaces& getDefaultControlInterfaces() const
  {
    return control_xacro_config_->getDefaultControlInterfaces();
  }
 
  const ControlInterfaces& getAvailableControlInterfaces() const
  {
    return control_xacro_config_->getAvailableControlInterfaces();
  }
 
protected:
  std::shared_ptr<SRDFConfig> srdf_config_;
  std::shared_ptr<ControlXacroConfig> control_xacro_config_;
};
}  // namespace controllers
}  // namespace moveit_setup