00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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/MoveGroupCartesianPathService", 00050 "move_group/MoveGroupExecuteTrajectoryAction", 00051 "move_group/MoveGroupKinematicsService", 00052 "move_group/MoveGroupMoveAction", 00053 "move_group/MoveGroupPickPlaceAction", 00054 "move_group/MoveGroupPlanService", 00055 "move_group/MoveGroupQueryPlannersService", 00056 "move_group/MoveGroupStateValidationService", 00057 "move_group/MoveGroupGetPlanningSceneService", 00058 "move_group/ApplyPlanningSceneService", 00059 "move_group/ClearOctomapService", 00060 }; 00061 // clang-format on 00062 00063 static const std::string PLANNER_SERVICE_NAME = 00064 "plan_kinematic_path"; // name of the advertised service (within the ~ namespace) 00065 static const std::string EXECUTE_SERVICE_NAME = 00066 "execute_kinematic_path"; // name of the advertised service (within the ~ namespace) 00067 static const std::string EXECUTE_ACTION_NAME = "execute_trajectory"; // name of 'execute' action 00068 static const std::string QUERY_PLANNERS_SERVICE_NAME = 00069 "query_planner_interface"; // name of the advertised query planners service 00070 static const std::string GET_PLANNER_PARAMS_SERVICE_NAME = 00071 "get_planner_params"; // service name to retrieve planner parameters 00072 static const std::string SET_PLANNER_PARAMS_SERVICE_NAME = 00073 "set_planner_params"; // service name to set planner parameters 00074 static const std::string MOVE_ACTION = "move_group"; // name of 'move' action 00075 static const std::string IK_SERVICE_NAME = "compute_ik"; // name of ik service 00076 static const std::string FK_SERVICE_NAME = "compute_fk"; // name of fk service 00077 static const std::string STATE_VALIDITY_SERVICE_NAME = 00078 "check_state_validity"; // name of the service that validates states 00079 static const std::string CARTESIAN_PATH_SERVICE_NAME = 00080 "compute_cartesian_path"; // name of the service that computes cartesian paths 00081 static const std::string GET_PLANNING_SCENE_SERVICE_NAME = 00082 "get_planning_scene"; // name of the service that can be used to query the planning scene 00083 static const std::string APPLY_PLANNING_SCENE_SERVICE_NAME = 00084 "apply_planning_scene"; // name of the service that applies a given planning scene 00085 static const std::string CLEAR_OCTOMAP_SERVICE_NAME = 00086 "clear_octomap"; // name of the service that can be used to clear the octomap 00087 } 00088 00089 #endif