Initial import.

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(moveit_mpp)
+
+add_compile_options(-std=c++11)
+
+find_package(
+  catkin
+    REQUIRED
+  COMPONENTS
+    moveit_core
+    moveit_ros_planning
+    pluginlib
+    roscpp
+)
+
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    moveit_core
+    moveit_ros_planning
+    pluginlib
+    roscpp
+)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}_planner_manager src/mpp_planner_manager.cpp)
+target_link_libraries(${PROJECT_NAME}_planner_manager ${catkin_LIBRARIES})

include/moveit_mpp/mpp_planner_manager.h

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+/**
+ * Copyright (c) 2018, G.A. vd. Hoorn
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * @author G.A. vd. Hoorn
+ */
+
+#ifndef MOVEIT_MPP_PLANNER_MANAGER_H_
+#define MOVEIT_MPP_PLANNER_MANAGER_H_
+
+#include <moveit/planning_interface/planning_interface.h>
+#include <ros/node_handle.h>
+#include <pluginlib/class_loader.h>
+
+#include <map>
+#include <string>
+#include <vector>
+
+namespace moveit_mpp
+{
+
+class MultiPlannerPluginManager : public planning_interface::PlannerManager
+{
+public:
+  MultiPlannerPluginManager();
+  virtual ~MultiPlannerPluginManager();
+
+  bool initialize(const robot_model::RobotModelConstPtr &model, const std::string &ns) override;
+
+  bool canServiceRequest(const moveit_msgs::MotionPlanRequest &req) const override;
+
+  std::string getDescription() const override
+  {
+    return "Multi Planner Plugin";
+  }
+
+  void getPlanningAlgorithms(std::vector<std::string> &algs) const override;
+
+  planning_interface::PlanningContextPtr getPlanningContext(
+      const planning_scene::PlanningSceneConstPtr &planning_scene,
+      const planning_interface::MotionPlanRequest &req,
+      moveit_msgs::MoveItErrorCodes &error_code) const override;
+
+protected:
+  ros::NodeHandle nh_;
+  ros::NodeHandle pnh_;
+  std::map<std::string, planning_interface::PlannerManagerPtr> planners_;
+  boost::shared_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
+};
+
+}
+
+#endif /* MOVEIT_MPP_PLANNER_MANAGER_H_ */

mpp_plugin_description.xml

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+<library path="libmoveit_mpp_planner_manager">
+  <class name="moveit_mpp/MultiPlanner" type="moveit_mpp::MultiPlannerPluginManager" base_class_type="planning_interface::PlannerManager">
+    <description>
+      MoveIt multi-planner plugin.
+    </description>
+  </class>
+</library>

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>moveit_mpp</name>
+  <version>0.1.0</version>
+  <description>Multi-planner plugin hoster plugin for MoveIt</description>
+  <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>Apache2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>moveit_core</build_depend>  
+  <build_depend>moveit_ros_planning</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>roscpp</build_depend>
+
+  <run_depend>moveit_core</run_depend>
+  <run_depend>moveit_ros_planning</run_depend>
+  <run_depend>pluginlib</run_depend>
+  <run_depend>roscpp</run_depend>
+
+  <export>
+    <moveit_core plugin="${prefix}/mpp_plugin_description.xml"/>
+  </export>
+</package>