00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2014, SRI, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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)