servo_utils.cpp File Reference

#include <moveit_studio_behavior/behaviors/servo/servo_utils.hpp>
#include <moveit_studio_behavior/utils/ros_utils.hpp>

Include dependency graph for servo_utils.cpp:

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors

Functions
tl::expected< void, std::string >	moveit_studio::behaviors::requestSwitchCommandType (std::shared_ptr< rclcpp::Client< moveit_msgs::srv::ServoCommandType > > client, std::shared_ptr< moveit_msgs::srv::ServoCommandType::Request > request)
	Send a request through a service client for a moveit_msgs::srv::ServoCommandType service and block until a response is received or a timeout limit is reached.
tl::expected< void, std::string >	moveit_studio::behaviors::startServo (std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool > > client)
	Starts the servo node.
tl::expected< void, std::string >	moveit_studio::behaviors::stopServo (std::shared_ptr< rclcpp::Client< std_srvs::srv::SetBool > > client)
	Stops the servo node.