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Use same base class for ROS2Controllers and MoveItControllers (widget…
…/config/setup_step)
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...ssistant/moveit_setup_controllers/include/moveit_setup_controllers/moveit_controllers.hpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2021, PickNik Robotics | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Robotics nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: David V. Lu!! */ | ||
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| #pragma once | ||
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| #include <moveit_setup_controllers/controllers.hpp> | ||
| #include <moveit_setup_controllers/moveit_controllers_config.hpp> | ||
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| namespace moveit_setup | ||
| { | ||
| namespace controllers | ||
| { | ||
| class MoveItControllers : public Controllers | ||
| { | ||
| public: | ||
| std::string getName() const override | ||
| { | ||
| return "MoveIt Controllers"; | ||
| } | ||
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| void onInit() override | ||
| { | ||
| config_data_->registerType("moveit_controllers", "moveit_setup::controllers::MoveItControllersConfig"); | ||
| srdf_config_ = config_data_->get<SRDFConfig>("srdf"); | ||
| controllers_config_ = config_data_->get<MoveItControllersConfig>("moveit_controllers"); | ||
| } | ||
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| std::string getInstructions() const override | ||
| { | ||
| return "Configure controllers to be used by MoveIt's controller manager(s) to operate the robot's physical " | ||
| "hardware"; | ||
| } | ||
|
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| std::string getButtonText() const override | ||
| { | ||
| return "Auto Add &FollowJointsTrajectory \n Controllers For Each Planning Group"; | ||
| } | ||
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| std::vector<std::string> getAvailableTypes() const override | ||
| { | ||
| return { "FollowJointTrajectory", "GripperCommand" }; | ||
| } | ||
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| std::string getDefaultType() const override | ||
| { | ||
| return "FollowJointTrajectory"; | ||
| } | ||
| }; | ||
| } // namespace controllers | ||
| } // namespace moveit_setup |
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