Add TF Buffer accessor to MoveGroupInterface (#2944)

moveit · Aug 2, 2024 · 57995c5 · 57995c5
1 parent d7b84fd
commit 57995c5
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diff --git a/...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -160,6 +160,9 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
    * states from srdf */
   const std::vector<std::string>& getNamedTargets() const;
 
+  /** \brief Get the tf2_ros::Buffer. */
+  const std::shared_ptr<tf2_ros::Buffer>& getTF() const;
+
   /** \brief Get the RobotModel object. */
   moveit::core::RobotModelConstPtr getRobotModel() const;
 

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -1382,6 +1382,11 @@ const std::vector<std::string>& MoveGroupInterface::getNamedTargets() const
   return impl_->getJointModelGroup()->getDefaultStateNames();
 }
 
+const std::shared_ptr<tf2_ros::Buffer>& MoveGroupInterface::getTF() const
+{
+  return impl_->getTF();
+}
+
 moveit::core::RobotModelConstPtr MoveGroupInterface::getRobotModel() const
 {
   return impl_->getRobotModel();