Program Listing for File ros2_controllers.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_controllers/controllers.hpp>
#include <moveit_setup_controllers/ros2_controllers_config.hpp>
namespace moveit_setup
{
namespace controllers
{
class ROS2Controllers : public Controllers
{
public:
std::string getName() const override
{
return "ROS 2 Controllers";
}
void onInit() override
{
config_data_->registerType("ros2_controllers", "moveit_setup::controllers::ROS2ControllersConfig");
config_data_->registerType("control_xacro", "moveit_setup::controllers::ControlXacroConfig");
srdf_config_ = config_data_->get<SRDFConfig>("srdf");
controllers_config_ = config_data_->get<ROS2ControllersConfig>("ros2_controllers");
}
std::string getInstructions() const override
{
return "Configure ros2_controllers. By default, ros2_control fake_components are used to create a simple "
"simulation.";
}
std::string getButtonText() const override
{
return "Auto Add &JointTrajectoryController \n Controllers For Each Planning Group";
}
std::vector<std::string> getAvailableTypes() const override
{
return { "joint_trajectory_controller/JointTrajectoryController", "position_controllers/GripperActionController" };
}
std::string getDefaultType() const override
{
return "joint_trajectory_controller/JointTrajectoryController";
}
};
} // namespace controllers
} // namespace moveit_setup