MoveIt Pro API
Core Behaviors for MoveIt Pro
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switch_controller.hpp File Reference
#include <controller_manager_msgs/srv/list_controllers.hpp>
#include <controller_manager_msgs/srv/switch_controller.hpp>
#include <tl_expected/expected.hpp>
#include "moveit_studio_behavior_interface/service_client_behavior_base.hpp"
#include "moveit_studio_behavior_interface/shared_resources_node.hpp"
Include dependency graph for switch_controller.hpp:
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Classes

class  moveit_studio::behaviors::SwitchController
 A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers. More...
 

Namespaces

namespace  moveit_studio
 
namespace  moveit_studio::behaviors
 

Typedefs

using moveit_studio::behaviors::ListControllersSrv = controller_manager_msgs::srv::ListControllers
 
using moveit_studio::behaviors::SwitchControllerSrv = controller_manager_msgs::srv::SwitchController
 

Functions

std::set< std::string, std::less<> > moveit_studio::behaviors::findConflictingControllers (const std::vector< std::string > &controllers_to_activate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
 Find the controllers that are in conflict with the ones to activate.