#include "models.h" #include #include using namespace moveit::core; RobotModelPtr getModel() { // suppress RobotModel errors and warnings ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME ".moveit_core.robot_model", ros::console::levels::Fatal); // 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() { robot_model_loader::RobotModelLoader loader; return loader.getModel(); }