plan_service_capability.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 
42 {
43 }
44 
46 {
49 }
50 
51 bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotionPlan::Request& req,
52  moveit_msgs::GetMotionPlan::Response& res)
53 {
54  ROS_INFO("Received new planning service request...");
55  // before we start planning, ensure that we have the latest robot state received...
56  // for now disable this (see https://github.com/ros-planning/moveit/issues/868)
57  // context_->planning_scene_monitor_->waitForCurrentRobotState(ros::Time::now());
58  context_->planning_scene_monitor_->updateFrameTransforms();
59 
60  bool solved = false;
61  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
62  try
63  {
65  context_->planning_pipeline_->generatePlan(ps, req.motion_plan_request, mp_res);
66  mp_res.getMessage(res.motion_plan_response);
67  }
68  catch (std::exception& ex)
69  {
70  ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
71  res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
72  }
73 
74  return true;
75 }
76 
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
void getMessage(moveit_msgs::MotionPlanResponse &msg) const
bool computePlanService(moveit_msgs::GetMotionPlan::Request &req, moveit_msgs::GetMotionPlan::Response &res)
#define ROS_INFO(...)
static const std::string PLANNER_SERVICE_NAME
#define ROS_ERROR(...)
CLASS_LOADER_REGISTER_CLASS(Dog, Base)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Thu Jul 12 2018 02:54:44