moveit_planning_pipeline.hpp

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/* Author: Sebastian Jahr
   Description: Global planner plugin that utilizes MoveIt's planning pipeline accessed via the MoveItCpp API*/
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/global_planner/global_planner_interface.hpp>
 
// MoveitCpp
#include <moveit/moveit_cpp/moveit_cpp.hpp>
#include <moveit/moveit_cpp/planning_component.hpp>
 
namespace moveit::hybrid_planning
{
class MoveItPlanningPipeline : public GlobalPlannerInterface
{
public:
  MoveItPlanningPipeline() = default;
  ~MoveItPlanningPipeline() override = default;
  bool initialize(const rclcpp::Node::SharedPtr& node) override;
  bool reset() noexcept override;
  moveit_msgs::msg::MotionPlanResponse
  plan(const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>> global_goal_handle)
      override;
 
private:
  rclcpp::Node::SharedPtr node_ptr_;
  std::shared_ptr<moveit_cpp::MoveItCpp> moveit_cpp_;
};
}  // namespace moveit::hybrid_planning