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Adds get group urdf service #174

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merged 3 commits into from
Jan 15, 2024
Merged

Adds get group urdf service #174

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29d385c
Add service
sjahr Jan 11, 2024
2e5ecad
Format
sjahr Jan 12, 2024
d2d9874
Format and use MoveItErrorCode
sjahr Jan 15, 2024
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,7 @@ set(srv_files
"srv/RenameRobotStateInWarehouse.srv"
"srv/DeleteRobotStateFromWarehouse.srv"
"srv/ServoCommandType.srv"
"srv/GetGroupUrdf.srv"
)

set(action_files
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7 changes: 7 additions & 0 deletions srv/GetGroupUrdf.srv
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@@ -0,0 +1,7 @@
# Name of the planning group for which an URDF is requested
string group_name
---
# Whether an error occurred
MoveItErrorCodes error_code
# URDF of the requested group. Empty if request was not successful e.g. because the group does not exist
string urdf_string