apply_planning_scene_service_capability.h

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/* Author: Michael 'v4hn' Goerner */

#ifndef MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/ApplyPlanningScene.h>

namespace move_group
{
class ApplyPlanningSceneService : public MoveGroupCapability
{
public:
  ApplyPlanningSceneService();

  virtual void initialize();

private:
  bool applyScene(moveit_msgs::ApplyPlanningScene::Request& req, moveit_msgs::ApplyPlanningScene::Response& res);

  ros::ServiceServer service_;
};
}

#endif  // MOVEIT_MOVE_GROUP_APPLY_PLANNING_SCENE_SERVICE_CAPABILITY_