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   context_->planning_scene_monitor_->updateFrameTransforms();
00056 
00057   bool solved = false;
00058   planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
00059   try
00060   {
00061     planning_interface::MotionPlanResponse mp_res;
00062     context_->planning_pipeline_->generatePlan(ps, req.motion_plan_request, mp_res);
00063     mp_res.getMessage(res.motion_plan_response);
00064   }
00065   catch (std::runtime_error& ex)
00066   {
00067     ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
00068     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00069   }
00070   catch (...)
00071   {
00072     ROS_ERROR("Planning pipeline threw an exception");
00073     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
00074   }
00075 
00076   return true;
00077 }
00078 
00079 #include <class_loader/class_loader.h>
00080 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupPlanService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:34:23