plan_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "plan_service_capability.h"
00038 #include <moveit/planning_pipeline/planning_pipeline.h>
00039 #include <moveit/move_group/capability_names.h>
00040 
00041 move_group::MoveGroupPlanService::MoveGroupPlanService():
00042   MoveGroupCapability("MotionPlanService")
00043 {
00044 }
00045 
00046 void move_group::MoveGroupPlanService::initialize()
00047 {
00048   plan_service_ = root_node_handle_.advertiseService(PLANNER_SERVICE_NAME, &MoveGroupPlanService::computePlanService, this);
00049 }
00050 
00051 bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotionPlan::Request &req, moveit_msgs::GetMotionPlan::Response &res)
00052 {
00053   ROS_INFO("Received new planning service request...");
00054   context_->planning_scene_monitor_->updateFrameTransforms();
00055 
00056   bool solved = false;
00057   planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
00058   try
00059   {
00060     planning_interface::MotionPlanResponse mp_res;
00061     solved = context_->planning_pipeline_->generatePlan(ps, req.motion_plan_request, mp_res);
00062     mp_res.getMessage(res.motion_plan_response);
00063   }
00064   catch(std::runtime_error &ex)
00065   {
00066     ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
00067     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00068   }
00069   catch(...)
00070   {
00071     ROS_ERROR("Planning pipeline threw an exception");
00072     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00073   }
00074 
00075   return solved;
00076 }
00077 
00078 #include <class_loader/class_loader.h>
00079 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupPlanService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:32:44