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Improvements in Planning interface port to ROS 2 #86

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merged 5 commits into from
Jun 1, 2019
Merged

Improvements in Planning interface port to ROS 2 #86

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ae90d19
Adding node to planning_interface
ahcorde May 13, 2019
5159b38
moveit_core planning_interface - library as shared
ahcorde May 24, 2019
1361cfd
moveit_core planning_interface - fixing CMakeLists.txt
ahcorde May 24, 2019
1aaa02e
clang
May 29, 2019
99bc9d2
moveit_core planning_interface - update docstrings
ahcorde May 29, 2019
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6 changes: 5 additions & 1 deletion moveit_core/planning_interface/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
set(MOVEIT_LIB_NAME moveit_planning_interface)

add_library(${MOVEIT_LIB_NAME}
add_library(${MOVEIT_LIB_NAME} SHARED
src/planning_interface.cpp
src/planning_response.cpp
)
Expand All @@ -13,6 +13,10 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
urdfdom
urdfdom_headers)

target_link_libraries(${MOVEIT_LIB_NAME}
moveit_robot_trajectory
moveit_robot_state)

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)
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2 changes: 1 addition & 1 deletion moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
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Expand Up @@ -165,7 +165,7 @@ class PlannerManager
/// It is assumed that motion plans will be computed for the robot described by \e model and that any exposed ROS
/// functionality
/// or required ROS parameters are namespaced by \e ns
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virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns);
virtual bool initialize(const robot_model::RobotModelConstPtr& model, std::shared_ptr<rclcpp::Node>& node);

/// Get \brief a short string that identifies the planning interface
virtual std::string getDescription() const;
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2 changes: 1 addition & 1 deletion moveit_core/planning_interface/src/planning_interface.cpp
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Expand Up @@ -93,7 +93,7 @@ void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
}

bool PlannerManager::initialize(const robot_model::RobotModelConstPtr& /*unused*/, const std::string& /*unused*/)
bool PlannerManager::initialize(const robot_model::RobotModelConstPtr& /*unused*/, std::shared_ptr<rclcpp::Node>& node)
{
return true;
}
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