00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, 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: Ioan Sucan */ 00036 00037 #include "get_planning_scene_service_capability.h" 00038 #include <moveit/move_group/capability_names.h> 00039 00040 move_group::MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService() 00041 : MoveGroupCapability("GetPlanningSceneService") 00042 { 00043 } 00044 00045 void move_group::MoveGroupGetPlanningSceneService::initialize() 00046 { 00047 get_scene_service_ = root_node_handle_.advertiseService( 00048 GET_PLANNING_SCENE_SERVICE_NAME, &MoveGroupGetPlanningSceneService::getPlanningSceneService, this); 00049 } 00050 00051 bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req, 00052 moveit_msgs::GetPlanningScene::Response& res) 00053 { 00054 if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS) 00055 context_->planning_scene_monitor_->updateFrameTransforms(); 00056 planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_); 00057 ps->getPlanningSceneMsg(res.scene, req.components); 00058 return true; 00059 } 00060 00061 #include <class_loader/class_loader.h> 00062 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupCapability)