Port trajectory_execution_manager to ROS2 #110
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moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
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| ${rclcpp_LIBRARIES} | ||
| ) | ||
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| if(WIN32) |
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I'm hesitant to tinker with windows support here already. But we should definitely keep the tests. I didn't look into running/fixing up the moveit_core tests so could you extract them here for now and move them to another branch+issue (just add comment+description to #106)?
...execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
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| { | ||
| dynamic_reconfigure_server_.setCallback( | ||
| boost::bind(&DynamicReconfigureImpl::dynamicReconfigureCallback, this, _1, _2)); | ||
| // TODO (anasarrak): generate a similar thing for ros2 using the parameters |
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Yep, we will have to find a solution for this. It's supposed to be much easier in ROS 2 (http://design.ros2.org/articles/ros_parameters.html) as we have parameter callbacks already available.
I'll start looking into this once moveit_core is merged.
moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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@RoboticsYY Great progress so far, thanks for fixing this up.
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moveit_ros/planning/trajectory_execution_manager/test/test_app.launch.py
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moveit_ros/planning/trajectory_execution_manager/test/test_move_group.launch.py
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moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager_plugin.cpp
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moveit_ros/planning/trajectory_execution_manager/test/test_publish_dummy_joint_states.cpp
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