Program Listing for File 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