print_planning_scene_info.cpp

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/* Author: Dave Coleman
   Desc:   Simple utility to see all the collision objects in a planning scene, including attached
*/
 
#include <ros/ros.h>
 
// MoveIt
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
static const std::string ROBOT_DESCRIPTION = "robot_description";
static const std::string LOGNAME = "print_planning_scene_info";
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "print_model_info_to_console");
 
  ros::AsyncSpinner spinner(1);
  spinner.start();
 
  ros::NodeHandle nh;
  ROS_INFO_STREAM_NAMED(LOGNAME, "Getting planning scene info to print");
 
  // Create planning scene monitor
  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
  if (!psm.getPlanningScene())
  {
    ROS_ERROR_STREAM_NAMED(LOGNAME, "Planning scene not configured");
    return 1;
  }
 
  psm.requestPlanningSceneState(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE);
 
  psm.getPlanningScene()->printKnownObjects();
 
  return 0;
}