clear_octomap_service_capability.cpp
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00034 
00035 /* Author: David Hershberger */
00036 
00037 #include "clear_octomap_service_capability.h"
00038 #include <moveit/move_group/capability_names.h>
00039 
00040 move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("ClearOctomapService")
00041 {
00042 }
00043 
00044 void move_group::ClearOctomapService::initialize()
00045 {
00046   service_ = root_node_handle_.advertiseService(CLEAR_OCTOMAP_SERVICE_NAME, &ClearOctomapService::clearOctomap, this);
00047 }
00048 
00049 bool move_group::ClearOctomapService::clearOctomap(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
00050 {
00051   if (!context_->planning_scene_monitor_)
00052   {
00053     ROS_ERROR("Cannot clear octomap since planning_scene_monitor_ does not exist.");
00054     return true;
00055   }
00056 
00057   ROS_INFO("Clearing octomap...");
00058   context_->planning_scene_monitor_->clearOctomap();
00059   ROS_INFO("Octomap cleared.");
00060   return true;
00061 }
00062 
00063 #include <class_loader/class_loader.h>
00064 CLASS_LOADER_REGISTER_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)


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