Improvements in Planning interface port to ROS 2 (#86)

* Adding node to planning_interface * moveit_core planning_interface - library as shared * moveit_core planning_interface - fixing CMakeLists.txt * clang * moveit_core planning_interface - update docstrings
moveit · Jun 1, 2019 · f9a1bb5 · f9a1bb5
1 parent 62ed45b
commit f9a1bb5
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/moveit_core/planning_interface/CMakeLists.txt b/moveit_core/planning_interface/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_planning_interface)
 
-add_library(${MOVEIT_LIB_NAME}
+add_library(${MOVEIT_LIB_NAME} SHARED
   src/planning_interface.cpp
   src/planning_response.cpp
 )
@@ -13,6 +13,10 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   urdfdom
   urdfdom_headers)
 
+target_link_libraries(${MOVEIT_LIB_NAME}
+  moveit_robot_trajectory
+  moveit_robot_state)
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib)

diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -162,10 +162,9 @@ class PlannerManager
 
   /// Initialize a planner. This function will be called after the construction of the plugin, before any other call is
   /// made.
-  /// It is assumed that motion plans will be computed for the robot described by \e model and that any exposed ROS
-  /// functionality
-  /// or required ROS parameters are namespaced by \e ns
-  virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns);
+  /// It is assumed that motion plans will be computed for the robot described by \e model
+  /// and the node is passed as an argument to get some ROS parameters
+  virtual bool initialize(const robot_model::RobotModelConstPtr& model, std::shared_ptr<rclcpp::Node>& node);
 
   /// Get \brief a short string that identifies the planning interface
   virtual std::string getDescription() const;

diff --git a/moveit_core/planning_interface/src/planning_interface.cpp b/moveit_core/planning_interface/src/planning_interface.cpp
@@ -82,18 +82,17 @@ void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
   request_ = request;
   if (request_.allowed_planning_time <= 0.0)
   {
-    RCLCPP_INFO(LOGGER,
-                   "The timeout for planning must be positive (%lf specified). Assuming one second instead.",
-                   request_.allowed_planning_time);
+    RCLCPP_INFO(LOGGER, "The timeout for planning must be positive (%lf specified). Assuming one second instead.",
+                request_.allowed_planning_time);
     request_.allowed_planning_time = 1.0;
   }
   if (request_.num_planning_attempts < 0)
     RCLCPP_ERROR(LOGGER, "The number of desired planning attempts should be positive. "
-                                          "Assuming one attempt.");
+                         "Assuming one attempt.");
   request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
 }
 
-bool PlannerManager::initialize(const robot_model::RobotModelConstPtr& /*unused*/, const std::string& /*unused*/)
+bool PlannerManager::initialize(const robot_model::RobotModelConstPtr& /*unused*/, std::shared_ptr<rclcpp::Node>& node)
 {
   return true;
 }