clear_octomap_service_capability.h

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/* Author: David Hershberger */

#ifndef MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <std_srvs/Empty.h>

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

  virtual void initialize();

private:
  bool clearOctomap(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);

  ros::ServiceServer service_;
};
}

#endif  // MOVEIT_MOVE_GROUP_CLEAR_OCTOMAP_SERVICE_CAPABILITY_