Program Listing for File control_xacro_config.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_controllers/modified_urdf_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
namespace moveit_setup
{
namespace controllers
{
struct ControlInterfaces
{
std::vector<std::string> command_interfaces;
std::vector<std::string> state_interfaces;
};
inline std::vector<std::string> getAvailableInterfaceNames()
{
return { "position", "velocity", "effort" };
}
class ControlXacroConfig : public IncludedXacroConfig
{
public:
void onInit() override;
void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
YAML::Node saveToYaml() const override;
bool isConfigured() const override;
std::string getFilepath() const override;
bool hasChanges() const override;
std::vector<std::pair<std::string, std::string>> getArguments() const override;
std::vector<std::string> getCommands() const override;
void loadFromDescription();
bool hasAllControlTagsInOriginal() const;
const ControlInterfaces& getAvailableControlInterfaces() const
{
return available_ci_;
}
const ControlInterfaces& getDefaultControlInterfaces() const
{
return default_ci_;
}
void setControlInterfaces(const ControlInterfaces& ci);
const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const;
std::string getJointsXML() const;
class GeneratedControlHeader : public TemplatedGeneratedFile
{
public:
GeneratedControlHeader(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
ControlXacroConfig& parent)
: TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
{
}
std::filesystem::path getRelativePath() const override
{
return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".ros2_control.xacro");
}
std::filesystem::path getTemplatePath() const override
{
return getSharePath("moveit_setup_controllers") / "templates" / "config" / "ros2_control.xacro";
}
std::string getDescription() const override
{
return "Macro definition for required ros2_control xacro additions.";
}
bool hasChanges() const override
{
return parent_.hasChanges();
}
protected:
ControlXacroConfig& parent_;
};
class GeneratedInitialPositions : public YamlGeneratedFile
{
public:
GeneratedInitialPositions(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
ControlXacroConfig& parent)
: YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
{
}
bool hasChanges() const override
{
return parent_.hasChanges();
}
std::filesystem::path getRelativePath() const override
{
return "config/initial_positions.yaml";
}
std::string getDescription() const override
{
return "Initial positions for ros2_control";
}
bool writeYaml(YAML::Emitter& emitter) override;
protected:
ControlXacroConfig& 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<GeneratedControlHeader>(package_path, last_gen_time, *this));
files.push_back(std::make_shared<GeneratedInitialPositions>(package_path, last_gen_time, *this));
}
void collectVariables(std::vector<TemplateVariable>& variables) override;
protected:
void getControlInterfaces(const std::string& joint_name, ControlInterfaces& ci) const;
std::vector<std::string> joint_names_;
std::unordered_map<std::string, ControlInterfaces> original_joint_interfaces_, new_joint_interfaces_;
ControlInterfaces default_ci_, available_ci_;
srdf::Model::GroupState initial_group_state_;
bool changed_;
};
} // namespace controllers
} // namespace moveit_setup