moveit_sim_hw_interface.h
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34 
35 /* Author: Dave Coleman <dave@dav.ee>
36  Desc: Simulates a robot using ros_control controllers
37 */
38 
39 #ifndef MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
40 #define MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
41 
42 // C++
43 #include <string>
44 
45 // ROS
46 #include <ros/ros.h>
50 
52 {
53 static const std::string ROBOT_DESCRIPTION = "robot_description";
54 
56 {
57 public:
61  explicit MoveItSimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
62 
64  void init();
65 
67 
68 private:
69  std::string name_;
70 
71  std::string joint_model_group_;
73 
74  // Note: this doesn't need to be a member variable (only used once) but there are warnings about
75  // unloading shared objects so this is a work around at least for now
76  robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
77 }; // class
78 
79 // Create boost pointers for this class
82 
83 } // namespace moveit_sim_controller
84 
85 #endif // MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
boost::shared_ptr< MoveItSimHWInterface > MoveItSimHWInterfacePtr
void init()
Initialize the robot hardware interface.
robot_model_loader::RobotModelLoaderPtr robot_model_loader_
boost::shared_ptr< const MoveItSimHWInterface > MoveItSimHWInterfaceConstPtr
MoveItSimHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
Constructor.
static const std::string ROBOT_DESCRIPTION


moveit_sim_controller
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 19:38:57