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