capability_names.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES
00038 #define MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES
00039 
00040 #include <string>
00041 
00042 namespace move_group
00043 {
00044 // These capabilities are loaded unless listed in disable_capabilities
00045 // clang-format off
00046 static const char* DEFAULT_CAPABILITIES[] = {
00047    "move_group/MoveGroupCartesianPathService",
00048    "move_group/MoveGroupKinematicsService",
00049    "move_group/MoveGroupExecuteTrajectoryAction",
00050    "move_group/MoveGroupMoveAction",
00051    "move_group/MoveGroupPickPlaceAction",
00052    "move_group/MoveGroupPlanService",
00053    "move_group/MoveGroupQueryPlannersService",
00054    "move_group/MoveGroupStateValidationService",
00055    "move_group/MoveGroupGetPlanningSceneService",
00056    "move_group/ApplyPlanningSceneService",
00057    "move_group/ClearOctomapService",
00058 };
00059 // clang-format on
00060 
00061 static const std::string PLANNER_SERVICE_NAME =
00062     "plan_kinematic_path";  // name of the advertised service (within the ~ namespace)
00063 static const std::string EXECUTE_SERVICE_NAME =
00064     "execute_kinematic_path";  // name of the advertised service (within the ~ namespace)
00065 static const std::string EXECUTE_ACTION_NAME = "execute_trajectory";  // name of 'execute' action
00066 static const std::string QUERY_PLANNERS_SERVICE_NAME =
00067     "query_planner_interface";                            // name of the advertised query planners service
00068 static const std::string MOVE_ACTION = "move_group";      // name of 'move' action
00069 static const std::string IK_SERVICE_NAME = "compute_ik";  // name of ik service
00070 static const std::string FK_SERVICE_NAME = "compute_fk";  // name of fk service
00071 static const std::string STATE_VALIDITY_SERVICE_NAME =
00072     "check_state_validity";  // name of the service that validates states
00073 static const std::string CARTESIAN_PATH_SERVICE_NAME =
00074     "compute_cartesian_path";  // name of the service that computes cartesian paths
00075 static const std::string GET_PLANNING_SCENE_SERVICE_NAME =
00076     "get_planning_scene";  // name of the service that can be used to query the planning scene
00077 static const std::string APPLY_PLANNING_SCENE_SERVICE_NAME =
00078     "apply_planning_scene";  // name of the service that applies a given planning scene
00079 static const std::string CLEAR_OCTOMAP_SERVICE_NAME =
00080     "clear_octomap";  // name of the service that can be used to clear the octomap
00081 }
00082 
00083 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:35