Function stomp_moveit::visualization::getIterationPathPublisher

• Defined in File trajectory_visualization.hpp

Function Documentation

PostIterationFn stomp_moveit::visualization::getIterationPathPublisher(const rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr &marker_publisher, const std::shared_ptr<const planning_scene::PlanningScene> &planning_scene, const moveit::core::JointModelGroup *group)

Get post iteration function that publishes the EE path of the generated trajectory.

Parameters:

• marker_publisher – Marker publisher that is used to publish the path

• planning_scene – Current planning scene

• group – JointModelGroup to identify the EE tip

Returns:

If the marker_publisher is not a nullptr a post-iteration function that publishes the generated EE path is returned. Otherwise, a function that does nothing.