execute_trajectory_action_capability.h
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34 
35 /*
36  * Capability of execute trajectory with a ROS action.
37  * In order to allow monitoring and stopping the execution,
38  * the service should be turned into an action.
39  *
40  * Author: Kentaro Wada
41  * */
42 
43 #ifndef MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
44 #define MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
45 
48 #include <moveit_msgs/ExecuteTrajectoryAction.h>
49 #include <memory>
50 
51 namespace move_group
52 {
54 {
55 public:
57 
58  virtual void initialize();
59 
60 private:
61  void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal);
62  void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr& goal,
63  moveit_msgs::ExecuteTrajectoryResult& action_res);
66 
67  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::ExecuteTrajectoryAction> > execute_action_server_;
68 };
69 
70 } // namespace move_group
71 
72 #endif // MOVEIT_MOVE_GROUP_EXECUTE_TRAJECTORY_ACTION_CAPABILITY_
void executePathCallback(const moveit_msgs::ExecuteTrajectoryGoalConstPtr &goal)
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::ExecuteTrajectoryAction > > execute_action_server_
void executePath(const moveit_msgs::ExecuteTrajectoryGoalConstPtr &goal, moveit_msgs::ExecuteTrajectoryResult &action_res)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 16 2018 19:28:39