tf_publisher_capability.h

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/* Author: Jonas Tietz */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <thread>
 
namespace move_group
{
class TfPublisher : public MoveGroupCapability
{
public:
  TfPublisher();
  ~TfPublisher() override;
 
  void initialize() override;
 
private:
  void publishPlanningSceneFrames();
  int rate_;
  std::string prefix_;
  std::thread thread_;
  bool keep_running_;
};
}  // namespace move_group