publish_scene_from_text.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "publish_planning_scene", ros::init_options::AnonymousName);  

  // decide whether to publish the full scene
  bool full_scene = false;
  
  // the index of the argument with the filename
  int filename_index = 1;
  if (argc > 2)
    if (strncmp(argv[1], "--scene", 7) == 0)
    {
      full_scene = true;
      filename_index = 2;
    }
  
  if (argc > 1)
  {
    ros::AsyncSpinner spinner(1);
    spinner.start();
    
    ros::NodeHandle nh;
    ros::Publisher pub_scene;
    if (full_scene)
      pub_scene = nh.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
    else
      pub_scene = nh.advertise<moveit_msgs::PlanningSceneWorld>("planning_scene_world", 1);
    
    robot_model_loader::RobotModelLoader::Options opt;
    opt.robot_description_ = "robot_description";
    opt.load_kinematics_solvers_ = false;
    robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader(opt));
    planning_scene::PlanningScene ps(rml->getModel());
    
    std::ifstream f(argv[filename_index]);
    if (f.good() && !f.eof())
    {
      ROS_INFO("Publishing geometry from '%s' ...", argv[filename_index]);
      ps.loadGeometryFromStream(f);
      moveit_msgs::PlanningScene ps_msg;
      ps.getPlanningSceneMsg(ps_msg);
      ps_msg.is_diff = true;
      
      ros::WallDuration dt(0.5);
      unsigned int attempts = 0;
      ROS_WARN("Waiting for the subscriber %d", pub_scene.getNumSubscribers());
      while (pub_scene.getNumSubscribers() < 1 && ++attempts < 100) {
        ROS_WARN("Waiting for the subscriber");
        dt.sleep();
      }

      if (full_scene)
        pub_scene.publish(ps_msg);
      else
        pub_scene.publish(ps_msg.world);

      sleep(1);
    }
    else
      ROS_WARN("Unable to load '%s'.", argv[filename_index]);
  }
  else
    ROS_WARN("A filename was expected as argument. That file should be a text representation of the geometry in a planning scene.");
  
  ros::shutdown();
  return 0;
}