plan_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "plan_service_capability.h"
00038 #include <moveit/planning_pipeline/planning_pipeline.h>
00039 #include <moveit/move_group/capability_names.h>
00040 
00041 move_group::MoveGroupPlanService::MoveGroupPlanService() : MoveGroupCapability("MotionPlanService")
00042 {
00043 }
00044 
00045 void move_group::MoveGroupPlanService::initialize()
00046 {
00047   plan_service_ =
00048       root_node_handle_.advertiseService(PLANNER_SERVICE_NAME, &MoveGroupPlanService::computePlanService, this);
00049 }
00050 
00051 bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotionPlan::Request& req,
00052                                                           moveit_msgs::GetMotionPlan::Response& res)
00053 {
00054   ROS_INFO("Received new planning service request...");
00055   // before we start planning, ensure that we have the latest robot state received...
00056   context_->planning_scene_monitor_->waitForCurrentRobotState(ros::Time::now());
00057   context_->planning_scene_monitor_->updateFrameTransforms();
00058 
00059   bool solved = false;
00060   planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
00061   try
00062   {
00063     planning_interface::MotionPlanResponse mp_res;
00064     context_->planning_pipeline_->generatePlan(ps, req.motion_plan_request, mp_res);
00065     mp_res.getMessage(res.motion_plan_response);
00066   }
00067   catch (std::runtime_error& ex)
00068   {
00069     ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
00070     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00071   }
00072   catch (...)
00073   {
00074     ROS_ERROR("Planning pipeline threw an exception");
00075     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00076   }
00077 
00078   return true;
00079 }
00080 
00081 #include <class_loader/class_loader.h>
00082 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupPlanService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:35