clear_octomap_service_capability.cpp
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34 
35 /* Author: David Hershberger */
36 
39 
41 {
42 }
43 
45 {
47 }
48 
49 bool move_group::ClearOctomapService::clearOctomap(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
50 {
51  if (!context_->planning_scene_monitor_)
52  {
53  ROS_ERROR("Cannot clear octomap since planning_scene_monitor_ does not exist.");
54  return true;
55  }
56 
57  ROS_INFO("Clearing octomap...");
58  context_->planning_scene_monitor_->clearOctomap();
59  ROS_INFO("Octomap cleared.");
60  return true;
61 }
62 
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
#define ROS_INFO(...)
bool clearOctomap(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
static const std::string CLEAR_OCTOMAP_SERVICE_NAME
#define ROS_ERROR(...)
CLASS_LOADER_REGISTER_CLASS(Dog, Base)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jan 15 2018 03:51:53