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Motion planner (MoveIt) and Task planner (Plansys) integration

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This commit is contained in:
Roman Andrianov 2023-04-30 11:46:52 +00:00 • committed by Igor Brylyov
parent 0a735b87c9
commit 000ddb4831
43 changed files with 1402 additions and 379 deletions
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7
env_manager/src/component_manager/component_manager.cpp
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@ -1,4 +1,5 @@
#include "component_manager/component_manager.hpp"
#include "component_manager/node_component.hpp"
#include "component_manager/publisher_component.hpp"
#include "component_manager/subscriber_component.hpp"
#include "component_manager/service_component.hpp"
@ -50,6 +51,9 @@ static rclcpp::NodeOptions create_options(
case config::NodeOption::NodeType::Client:
args.push_back(DEFAULT_CLIENT_NAME + ":=" + node_opts.name);
break;
case config::NodeOption::NodeType::Node:
args.erase(args.end());
break;
}
opts.arguments(args);
@ -87,8 +91,11 @@ void ComponentManager::register_components(
auto loader = new class_loader::ClassLoader(comp.library);
auto classes =
loader->getAvailableClasses<rclcpp_components::NodeFactory>();
for (auto clazz: classes)
{
if (clazz != class_name)
continue;
rclcpp::NodeOptions opts = create_default_options(ns);
if (clazz == class_name)
{