#include "models.h" #include #include using namespace moveit::core; RobotModelPtr getModel() { // suppress RobotModel errors and warnings if (rcutils_logging_set_logger_level("moveit_robot_model.robot_model", RCUTILS_LOG_SEVERITY_FATAL) != RCUTILS_RET_OK) throw std::runtime_error("Failed to set logger level to RCUTILS_LOG_SEVERITY_ERROR"); // create dummy robot model moveit::core::RobotModelBuilder builder("robot", "base"); builder.addChain("base->link1->link2->tip", "continuous"); builder.addGroupChain("base", "link2", "group"); builder.addGroupChain("link2", "tip", "eef_group"); builder.addEndEffector("eef", "link2", "group", "eef_group"); return builder.build(); } moveit::core::RobotModelPtr loadModel(const rclcpp::Node::SharedPtr& node) { robot_model_loader::RobotModelLoader loader(node); return loader.getModel(); }