Class SetupConfig

Inheritance Relationships

Derived Types

Class Documentation

class SetupConfig

where all the data for each part of the configuration is stored.

Subclassed by moveit_setup::PackageSettingsConfig, moveit_setup::SRDFConfig, moveit_setup::URDFConfig

Public Functions

SetupConfig() = default
SetupConfig(const SetupConfig&) = default
SetupConfig(SetupConfig&&) = default
SetupConfig &operator=(const SetupConfig&) = default
SetupConfig &operator=(SetupConfig&&) = default
virtual ~SetupConfig() = default
inline void initialize(const std::shared_ptr<DataWarehouse> &config_data, const rclcpp::Node::SharedPtr &parent_node, const std::string &name)

Called after construction to initialize the step.

Parameters:

  • config_data – Pointer to all the other configs

  • parent_node – Shared pointer to the parent node

  • name –

inline virtual void onInit()

Overridable initialization method.

inline const std::string &getName()

The name for this part of the configuration.

inline virtual bool isConfigured() const

Return true if this part of the configuration is completely set up.

inline virtual void loadPrevious(const std::filesystem::path&, const YAML::Node&)

Loads the configuration from an existing MoveIt configuration.

The data can be loaded directly from files in the configuration via the package path.

Certain other pieces of “meta” information may be stored in the .setup_assistant yaml file in the root of the configuration. If there is a node in that file that matches this config’s name, it is passed in as an argument.

Parameters:

package_path – The path to the root folder of the configuration.

inline virtual YAML::Node saveToYaml() const

Optionally save “meta” information for saving in the .setup_assistant yaml file.

inline virtual void collectFiles(const std::filesystem::path&, const GeneratedTime&, std::vector<GeneratedFilePtr>&)

Collect the files generated by this configuration and add them to the vector.

Parameters:

  • package_path – [in] the path to the root of the config package

  • last_gen_time – [in] The time (if any) when the config package was last generated

  • files – [out] Where to put the new generated files

inline virtual void collectDependencies(std::set<std::string>&) const

Collect the package dependencies generated by this configuration.

Parameters:

packages – [out] Names of ROS packages

inline virtual void collectVariables(std::vector<TemplateVariable>&)

Collect key/value pairs for use in templates.

Parameters:

variables – [out] Where to put the new Variables

Protected Attributes

std::shared_ptr<DataWarehouse> config_data_
rclcpp::Node::SharedPtr parent_node_
std::string name_
std::shared_ptr<rclcpp::Logger> logger_