From 98899361583682198ff9b16c877c00ec381c90cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= <v.mayoralv@gmail.com>
Date: Tue, 19 Feb 2019 10:05:09 +0100
Subject: [PATCH 1/2] Port controller_manager submodule of moveit_core to ROS 2

---
 moveit_core/controller_manager/CMakeLists.txt        |  2 +-
 .../moveit/controller_manager/controller_manager.h   | 12 +++++-------
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/moveit_core/controller_manager/CMakeLists.txt b/moveit_core/controller_manager/CMakeLists.txt
index 70f020623f..3aa21699d5 100644
--- a/moveit_core/controller_manager/CMakeLists.txt
+++ b/moveit_core/controller_manager/CMakeLists.txt
@@ -1 +1 @@
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index da193cb0c2..67ac071981 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -39,7 +39,7 @@
 
 #include <vector>
 #include <string>
-#include <moveit_msgs/RobotTrajectory.h>
+#include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit/macros/class_forward.h>
 
 /// Namespace for the base class of a MoveIt! controller manager
@@ -120,12 +120,10 @@ class MoveItControllerHandle
     return name_;
   }
 
-  /** \brief Send a trajectory to the controller.
-   *
-   * The controller is expected to execute the trajectory, but this function call should not block.
-   * Blocking is achievable by calling waitForExecution().
-   * Return false when the controller cannot accept the trajectory. */
-  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0;
+  /** \brief Send a trajectory to the controller. The controller is expected to execute the trajectory, but this
+   * function call should not block. Blocking is achievable by calling waitForExecution(). Return false when the
+   * controller cannot accept the trajectory. */
+  virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) = 0;
 
   /** \brief Cancel the execution of any motion using this controller.
    *

From 2e1eb3716fcd686e3b1ff515e5a87d3b3264b890 Mon Sep 17 00:00:00 2001
From: Anasarrak <anasarrak@gmail.com>
Date: Mon, 25 Feb 2019 09:20:22 +0100
Subject: [PATCH 2/2] Fix regression in commenting

---
 .../moveit/controller_manager/controller_manager.h        | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index 67ac071981..fcbe3f0830 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -120,9 +120,11 @@ class MoveItControllerHandle
     return name_;
   }
 
-  /** \brief Send a trajectory to the controller. The controller is expected to execute the trajectory, but this
-   * function call should not block. Blocking is achievable by calling waitForExecution(). Return false when the
-   * controller cannot accept the trajectory. */
+  /** \brief Send a trajectory to the controller.
+     *
+     * The controller is expected to execute the trajectory, but this function call should not block.
+     * Blocking is achievable by calling waitForExecution().
+     * Return false when the controller cannot accept the trajectory. */
   virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) = 0;
 
   /** \brief Cancel the execution of any motion using this controller.