From 5d898501a3ab1cb5fb35ae80cac8e65e43bb58f6 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 13 Mar 2026 11:05:55 -0400 Subject: [PATCH] Support all groups in srv_kinematics_plugin --- .../srv_kinematics_plugin/srv_kinematics_plugin.hpp | 2 ++ .../src/srv_kinematics_plugin.cpp | 13 +++++++++++++ 2 files changed, 15 insertions(+) diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp index 6a2f11da4a..5277fd4d0c 100644 --- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp +++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp @@ -127,6 +127,8 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase */ const std::vector& getVariableNames() const; + bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const override; + protected: bool setRedundantJoints(const std::vector& redundant_joint_indices) override; diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp index 44c86b0691..a26415fb19 100644 --- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp +++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp @@ -422,4 +422,17 @@ const std::vector& SrvKinematicsPlugin::getVariableNames() const return joint_model_group_->getVariableNames(); } +bool SrvKinematicsPlugin::supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out) const +{ + if (!jmg) + { + if (error_text_out) + { + *error_text_out = "No joint model group provided"; + } + return false; + } + return true; +} + } // namespace srv_kinematics_plugin