collision_plugin_loader.cpp

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#include <moveit/collision_plugin_loader/collision_plugin_loader.h>
 
static const std::string LOGNAME = "collision_detection";
namespace collision_detection
{
void CollisionPluginLoader::setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene)
{
  if (!scene)
  {
    ROS_WARN_NAMED(LOGNAME, "Cannot setup scene, PlanningScenePtr is null.");
    return;
  }
 
  std::string param_name;
  std::string collision_detector_name;
 
  if (nh.searchParam("collision_detector", param_name))
  {
    nh.getParam(param_name, collision_detector_name);
  }
  else if (nh.hasParam("/move_group/collision_detector"))
  {
    // Check for existence in move_group namespace
    // mainly for rviz plugins to get same collision detector.
    nh.getParam("/move_group/collision_detector", collision_detector_name);
  }
  else
  {
    return;
  }
 
  if (collision_detector_name.empty())
  {
    // This is not a valid name for a collision detector plugin
    return;
  }
 
  activate(collision_detector_name, scene, true);
  ROS_INFO_STREAM("Using collision detector:" << scene->getActiveCollisionDetectorName().c_str());
}
 
}  // namespace collision_detection