planning_environment: environment_server

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00035  *
00036  * \author Sachin Chitta, Ioan Sucan
00037  *********************************************************************/
00038 
00039 #include "planning_environment/monitors/environment_server_setup.h"
00040 
00041 bool planning_environment::EnvironmentServerSetup::configure(void)
00042 {
00043   std::string global_frame_id;
00044   node_handle_.param<bool>("use_collision_map", use_collision_map_, true);
00045 
00046   //figuring out whether robot_description has been remapped
00047 
00048   ros::NodeHandle global_nh;
00049 
00050   std::string robot_description_name = global_nh.resolveName("robot_description", true);
00051 
00052   // monitor robot
00053   collision_models_ = new planning_environment::CollisionModels(robot_description_name);
00054   planning_monitor_ = new planning_environment::PlanningMonitor(collision_models_, &tf_);
00055   planning_monitor_->setUseCollisionMap(use_collision_map_);
00056   if (!collision_models_->loadedModels())
00057     return false;
00058 
00059   return true;
00060 }
00061
environment_server_setup.cpp
