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Const topic instead of parameters #2728

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merged 6 commits into from
Jul 26, 2024
Merged

Const topic instead of parameters #2728

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1cde2bf
Made changes to hard code topic names instead of parameters
Shobuj-Paul Mar 6, 2024
4e65389
Topic variables initialised as const in constructor
Shobuj-Paul Mar 6, 2024
6d34a55
Merge branch 'main' into remove-topic-params
henningkayser Jun 14, 2024
aebec5e
Merge branch 'main' into remove-topic-params
sjahr Jun 18, 2024
fdf2c6d
Merge branch 'main' into remove-topic-params
sjahr Jul 11, 2024
fa96643
Merge branch 'main' into remove-topic-params
sjahr Jul 26, 2024
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25 changes: 13 additions & 12 deletions moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,27 +57,28 @@ class MoveItCpp
/// Specification of options to use when constructing the MoveItCpp class
struct PlanningSceneMonitorOptions
{
PlanningSceneMonitorOptions()
: joint_state_topic(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC)
, attached_collision_object_topic(
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC)
, monitored_planning_scene_topic(planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC)
, publish_planning_scene_topic(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC)
{
}

void load(const rclcpp::Node::SharedPtr& node)
{
const std::string ns = "planning_scene_monitor_options";
node->get_parameter_or(ns + ".name", name, std::string("planning_scene_monitor"));
node->get_parameter_or(ns + ".robot_description", robot_description, std::string("robot_description"));
node->get_parameter_or(ns + ".joint_state_topic", joint_state_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
node->get_parameter_or(ns + ".attached_collision_object_topic", attached_collision_object_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
node->get_parameter_or(ns + ".monitored_planning_scene_topic", monitored_planning_scene_topic,
planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
node->get_parameter_or(ns + ".publish_planning_scene_topic", publish_planning_scene_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
node->get_parameter_or(ns + ".wait_for_initial_state_timeout", wait_for_initial_state_timeout, 0.0);
}
std::string name;
std::string robot_description;
std::string joint_state_topic;
std::string attached_collision_object_topic;
std::string monitored_planning_scene_topic;
std::string publish_planning_scene_topic;
const std::string joint_state_topic;
const std::string attached_collision_object_topic;
const std::string monitored_planning_scene_topic;
const std::string publish_planning_scene_topic;
double wait_for_initial_state_timeout;
};

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