execute_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_EXECUTE_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_EXECUTE_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/ExecuteKnownTrajectory.h>

namespace move_group
{

class MoveGroupExecuteService : public MoveGroupCapability
{
public:

  MoveGroupExecuteService();

  virtual void initialize();

private:

  bool executeTrajectoryService(moveit_msgs::ExecuteKnownTrajectory::Request &req, moveit_msgs::ExecuteKnownTrajectory::Response &res);

  ros::ServiceServer execute_service_;
};

}

#endif