Add callback to sendTrajectory

cambel · cambel · commit c9b1963f0c3b · 2022-10-05T14:22:29.000+09:00
diff --git a/doc/controller_configuration/src/moveit_controller_manager_example.cpp b/doc/controller_configuration/src/moveit_controller_manager_example.cpp
@@ -49,7 +49,7 @@ class ExampleControllerHandle : public moveit_controller_manager::MoveItControll
   {
   }
 
-  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/) override
+  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/, const ExecutionCompleteCallback& /*cb*/) override
   {
     // do whatever is needed to actually execute this trajectory
     return true;

Original file line number	Diff line number	Diff line change
`@@ -49,7 +49,7 @@ class ExampleControllerHandle : public moveit_controller_manager::MoveItControll`
`49`	`49`	`{`
`50`	`50`	`}`
`51`	`51`
`52`		`- bool sendTrajectory(const moveit_msgs::RobotTrajectory& /t/) override`
	`52`	`+ bool sendTrajectory(const moveit_msgs::RobotTrajectory& /t/, const ExecutionCompleteCallback& /cb/) override`
`53`	`53`	`{`
`54`	`54`	`// do whatever is needed to actually execute this trajectory`
`55`	`55`	`return true;`