Class SetupStep

Inheritance Relationships

Derived Types

  • public moveit_setup::app::Launches

  • public moveit_setup::app::Perception

  • public moveit_setup::controllers::Controllers

  • public moveit_setup::controllers::UrdfModifications

  • public moveit_setup::core::AuthorInformation

  • public moveit_setup::core::ConfigurationFiles

  • public moveit_setup::core::StartScreen

  • public moveit_setup::srdf_setup::SRDFStep

Class Documentation

class SetupStep

Contains all of the non-GUI code necessary for doing one “screen” worth of setup.

Subclassed by moveit_setup::app::Launches, moveit_setup::app::Perception, moveit_setup::controllers::Controllers, moveit_setup::controllers::UrdfModifications, moveit_setup::core::AuthorInformation, moveit_setup::core::ConfigurationFiles, moveit_setup::core::StartScreen, moveit_setup::srdf_setup::SRDFStep

Public Functions

SetupStep() = default
SetupStep(const SetupStep&) = default
SetupStep(SetupStep&&) = default
SetupStep &operator=(const SetupStep&) = default
SetupStep &operator=(SetupStep&&) = default
virtual ~SetupStep() = default
inline void initialize(const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)

Called after construction to initialize the step.

Parameters:

parent_node – Shared pointer to the parent node

inline virtual void onInit()

Overridable initialization method.

virtual std::string getName() const = 0

Returns the name of the setup step.

inline virtual bool isReady() const

Return true if the data necessary to proceed with this step has been configured.

inline const rclcpp::Logger &getLogger() const

Makes a namespaced logger for this step available to the widget.

Protected Attributes

DataWarehousePtr config_data_
rclcpp::Node::SharedPtr parent_node_
std::shared_ptr<rclcpp::Logger> logger_