38 #include <dynamic_reconfigure/server.h> 39 #include <moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h> 47 class DynamicReconfigureImpl
53 boost::bind(&DynamicReconfigureImpl::dynamicReconfigureCallback,
this, _1, _2));
56 const PickPlaceParams& getParams()
const 64 void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig& config, uint32_t level)
66 params_.max_goal_count_ = config.max_attempted_states_per_pose;
67 params_.max_fail_ = config.max_consecutive_fail_attempts;
68 params_.max_step_ = config.cartesian_motion_step_size;
69 params_.jump_factor_ = config.jump_factor;
83 static DynamicReconfigureImpl PICK_PLACE_PARAMS;
84 return PICK_PLACE_PARAMS.getParams();
const PickPlaceParams & GetGlobalPickPlaceParams()
dynamic_reconfigure::Server< PickPlaceDynamicReconfigureConfig > dynamic_reconfigure_server_