publish_scene_from_text.cpp
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2013, Ioan A. Sucan
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00038 
00039 int main(int argc, char **argv)
00040 {
00041   ros::init(argc, argv, "publish_planning_scene", ros::init_options::AnonymousName);  
00042 
00043   // decide whether to publish the full scene
00044   bool full_scene = false;
00045   
00046   // the index of the argument with the filename
00047   int filename_index = 1;
00048   if (argc > 2)
00049     if (strncmp(argv[1], "--scene", 7) == 0)
00050     {
00051       full_scene = true;
00052       filename_index = 2;
00053     }
00054   
00055   if (argc > 1)
00056   {
00057     ros::AsyncSpinner spinner(1);
00058     spinner.start();
00059     
00060     ros::NodeHandle nh;
00061     ros::Publisher pub_scene;
00062     if (full_scene)
00063       pub_scene = nh.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
00064     else
00065       pub_scene = nh.advertise<moveit_msgs::PlanningSceneWorld>("planning_scene_world", 1);
00066     
00067     robot_model_loader::RobotModelLoader::Options opt;
00068     opt.robot_description_ = "robot_description";
00069     opt.load_kinematics_solvers_ = false;
00070     robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader(opt));
00071     planning_scene::PlanningScene ps(rml->getModel());
00072     
00073     std::ifstream f(argv[filename_index]);
00074     if (f.good() && !f.eof())
00075     {
00076       ROS_INFO("Publishing geometry from '%s' ...", argv[filename_index]);
00077       ps.loadGeometryFromStream(f);
00078       moveit_msgs::PlanningScene ps_msg;
00079       ps.getPlanningSceneMsg(ps_msg);
00080       ps_msg.is_diff = true;
00081       
00082       ros::WallDuration dt(0.5);
00083       unsigned int attempts = 0;
00084       ROS_WARN("Waiting for the subscriber %d", pub_scene.getNumSubscribers());
00085       while (pub_scene.getNumSubscribers() < 1 && ++attempts < 100) {
00086         ROS_WARN("Waiting for the subscriber");
00087         dt.sleep();
00088       }
00089 
00090       if (full_scene)
00091         pub_scene.publish(ps_msg);
00092       else
00093         pub_scene.publish(ps_msg.world);
00094 
00095       sleep(1);
00096     }
00097     else
00098       ROS_WARN("Unable to load '%s'.", argv[filename_index]);
00099   }
00100   else
00101     ROS_WARN("A filename was expected as argument. That file should be a text representation of the geometry in a planning scene.");
00102   
00103   ros::shutdown();
00104   return 0;
00105 }


vs060
Author(s): Ryohei Ueda
autogenerated on Thu Jun 6 2019 20:15:26