Program Listing for File moveit_controllers.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/moveit_controllers_config.hpp>
namespace moveit_setup
{
namespace controllers
{
class MoveItControllers : public Controllers
{
public:
std::string getName() const override
{
return "MoveIt Controllers";
}
void onInit() override
{
config_data_->registerType("moveit_controllers", "moveit_setup::controllers::MoveItControllersConfig");
srdf_config_ = config_data_->get<SRDFConfig>("srdf");
controllers_config_ = config_data_->get<MoveItControllersConfig>("moveit_controllers");
}
std::string getInstructions() const override
{
return "Configure controllers to be used in executing trajectories with MoveIt (hardware or simulation)."
"hardware";
}
std::string getButtonText() const override
{
return "Auto Add &FollowJointsTrajectory \n Controllers For Each Planning Group";
}
std::vector<std::string> getAvailableTypes() const override
{
return { "FollowJointTrajectory", "GripperCommand" };
}
std::string getDefaultType() const override
{
return "FollowJointTrajectory";
}
class ActionNamespaceField : public AdditionalControllerField
{
public:
ActionNamespaceField() : AdditionalControllerField("Action Namespace", "action_ns")
{
}
std::string getDefaultValue(const std::string& controller_type) const override
{
if (controller_type == "FollowJointTrajectory")
{
return "follow_joint_trajectory";
}
else if (controller_type == "GripperCommand")
{
return "gripper_cmd";
}
else
{
return "";
}
}
};
class DefaultField : public AdditionalControllerField
{
public:
DefaultField() : AdditionalControllerField("Default", "default")
{
}
std::string getDefaultValue(const std::string& /*controller_type*/) const override
{
return "true";
}
};
FieldPointers getAdditionalControllerFields() const override
{
FieldPointers fields;
fields.push_back(std::make_shared<ActionNamespaceField>());
fields.push_back(std::make_shared<DefaultField>());
return fields;
}
};
} // namespace controllers
} // namespace moveit_setup