query_planners_service_capability.cpp

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/* Author: Ioan Sucan */

#include "query_planners_service_capability.h"
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/move_group/capability_names.h>

move_group::MoveGroupQueryPlannersService::MoveGroupQueryPlannersService():
  MoveGroupCapability("QueryPlannersService")
{
}

void move_group::MoveGroupQueryPlannersService::initialize()
{
  query_service_ = root_node_handle_.advertiseService(QUERY_PLANNERS_SERVICE_NAME, &MoveGroupQueryPlannersService::queryInterface, this);
}

bool move_group::MoveGroupQueryPlannersService::queryInterface(moveit_msgs::QueryPlannerInterfaces::Request &req, moveit_msgs::QueryPlannerInterfaces::Response &res)
{
  const planning_interface::PlannerManagerPtr &planner_interface = context_->planning_pipeline_->getPlannerManager();
  if (planner_interface)
  {
    std::vector<std::string> algs;
    planner_interface->getPlanningAlgorithms(algs);
    moveit_msgs::PlannerInterfaceDescription pi_desc;
    pi_desc.name = planner_interface->getDescription();
    planner_interface->getPlanningAlgorithms(pi_desc.planner_ids);
    res.planner_interfaces.push_back(pi_desc);
  }
  return true;
}

#include <class_loader/class_loader.h>
CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupQueryPlannersService, move_group::MoveGroupCapability)