apply_planning_scene_service_capability.cpp
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00004  *  Copyright (c) 2016, Michael 'v4hn' Goerner
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00034 
00035 /* Author: Michael Goerner */
00036 
00037 #include "apply_planning_scene_service_capability.h"
00038 #include <moveit/move_group/capability_names.h>
00039 
00040 move_group::ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("ApplyPlanningSceneService")
00041 {
00042 }
00043 
00044 void move_group::ApplyPlanningSceneService::initialize()
00045 {
00046   service_ = root_node_handle_.advertiseService(APPLY_PLANNING_SCENE_SERVICE_NAME,
00047                                                 &ApplyPlanningSceneService::applyScene, this);
00048 }
00049 
00050 bool move_group::ApplyPlanningSceneService::applyScene(moveit_msgs::ApplyPlanningScene::Request& req,
00051                                                        moveit_msgs::ApplyPlanningScene::Response& res)
00052 {
00053   if (!context_->planning_scene_monitor_)
00054   {
00055     ROS_ERROR("Cannot apply PlanningScene as no scene is monitored.");
00056     return true;
00057   }
00058   context_->planning_scene_monitor_->updateFrameTransforms();
00059   res.success = context_->planning_scene_monitor_->newPlanningSceneMessage(req.scene);
00060   return true;
00061 }
00062 
00063 #include <class_loader/class_loader.h>
00064 CLASS_LOADER_REGISTER_CLASS(move_group::ApplyPlanningSceneService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:21:44