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https://github.com/moveit/moveit_task_constructor.git
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more exported stage plugins: CurrentState
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@ -40,3 +40,6 @@ add_subdirectory(demo)
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add_subdirectory(test)
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install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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install(FILES
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motion_planning_stages_plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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9
core/motion_planning_stages_plugin_description.xml
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9
core/motion_planning_stages_plugin_description.xml
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@ -0,0 +1,9 @@
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<library path="libmoveit_task_constructor_core_stages">
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<class name="moveit_task_constructor/Current State"
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type="moveit::task_constructor::stages::CurrentState"
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base_class_type="moveit::task_constructor::Stage">
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<description>
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Use the current state of the robot (when starting planning) as a target.
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</description>
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</class>
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</library>
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@ -28,4 +28,8 @@
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<run_depend>visualization_msgs</run_depend>
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<test_depend>rosunit</test_depend>
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<export>
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<moveit_task_constructor_core plugin="${prefix}/motion_planning_stages_plugin_description.xml"/>
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</export>
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</package>
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@ -39,8 +39,8 @@
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namespace moveit { namespace task_constructor { namespace stages {
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CurrentState::CurrentState(std::string name)
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: Generator(name)
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CurrentState::CurrentState(std::string name = "current state")
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: Generator(name)
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{
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ran_= false;
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}
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@ -64,3 +64,7 @@ bool CurrentState::compute(){
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}
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} } }
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/// register plugin
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#include <pluginlib/class_list_macros.h>
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PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)
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