apply_planning_scene_service_capability.cpp

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/* Author: Michael Goerner */

#include "apply_planning_scene_service_capability.h"
#include <moveit/move_group/capability_names.h>

move_group::ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("ApplyPlanningSceneService")
{
}

void move_group::ApplyPlanningSceneService::initialize()
{
  service_ = root_node_handle_.advertiseService(APPLY_PLANNING_SCENE_SERVICE_NAME,
                                                &ApplyPlanningSceneService::applyScene, this);
}

bool move_group::ApplyPlanningSceneService::applyScene(moveit_msgs::ApplyPlanningScene::Request& req,
                                                       moveit_msgs::ApplyPlanningScene::Response& res)
{
  if (!context_->planning_scene_monitor_)
  {
    ROS_ERROR("Cannot apply PlanningScene as no scene is monitored.");
    return true;
  }
  context_->planning_scene_monitor_->updateFrameTransforms();
  res.success = context_->planning_scene_monitor_->newPlanningSceneMessage(req.scene);
  return true;
}

#include <class_loader/class_loader.h>
CLASS_LOADER_REGISTER_CLASS(move_group::ApplyPlanningSceneService, move_group::MoveGroupCapability)