joint_trajectory_controller_plugin.cpp

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/* Author: Mathias Lüdtke */

#include <ros/ros.h>
#include <moveit_ros_control_interface/ControllerHandle.h>
#include <pluginlib/class_list_macros.hpp>
#include <moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h>
#include <memory>

namespace moveit_ros_control_interface
{
/**
 * \brief Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instances.
 */
class JointTrajectoryControllerAllocator : public ControllerHandleAllocator
{
public:
  moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string& name,
                                                             const std::vector<std::string>& /* resources */) override
  {
    return std::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>(
        name, "follow_joint_trajectory");
  }
};

}  // namespace moveit_ros_control_interface

PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::JointTrajectoryControllerAllocator,
                       moveit_ros_control_interface::ControllerHandleAllocator);