00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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 solved = 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 solved; 00077 } 00078 00079 #include <class_loader/class_loader.h> 00080 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupPlanService, move_group::MoveGroupCapability)