more exported stage plugins: CurrentState

This commit is contained in:
Robert Haschke 2017-11-30 20:30:18 +01:00
parent d9be19bbe8
commit 17683b12c9
4 changed files with 22 additions and 2 deletions

View File

@ -40,3 +40,6 @@ add_subdirectory(demo)
add_subdirectory(test)
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(FILES
motion_planning_stages_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

View File

@ -0,0 +1,9 @@
<library path="libmoveit_task_constructor_core_stages">
<class name="moveit_task_constructor/Current State"
type="moveit::task_constructor::stages::CurrentState"
base_class_type="moveit::task_constructor::Stage">
<description>
Use the current state of the robot (when starting planning) as a target.
</description>
</class>
</library>

View File

@ -28,4 +28,8 @@
<run_depend>visualization_msgs</run_depend>
<test_depend>rosunit</test_depend>
<export>
<moveit_task_constructor_core plugin="${prefix}/motion_planning_stages_plugin_description.xml"/>
</export>
</package>

View File

@ -39,8 +39,8 @@
namespace moveit { namespace task_constructor { namespace stages {
CurrentState::CurrentState(std::string name)
: Generator(name)
CurrentState::CurrentState(std::string name = "current state")
: Generator(name)
{
ran_= false;
}
@ -64,3 +64,7 @@ bool CurrentState::compute(){
}
} } }
/// register plugin
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)