publish_scene_from_text.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
39 int main(int argc, char** argv)
40 {
41  ros::init(argc, argv, "publish_planning_scene", ros::init_options::AnonymousName);
42 
43  // decide whether to publish the full scene
44  bool full_scene = false;
45 
46  // the index of the argument with the filename
47  int filename_index = 1;
48  if (argc > 2)
49  if (strncmp(argv[1], "--scene", 7) == 0)
50  {
51  full_scene = true;
52  filename_index = 2;
53  }
54 
55  if (argc > 1)
56  {
58  spinner.start();
59 
60  ros::NodeHandle nh;
61  ros::Publisher pub_scene;
62  if (full_scene)
63  pub_scene = nh.advertise<moveit_msgs::PlanningScene>(
65  else
66  pub_scene = nh.advertise<moveit_msgs::PlanningSceneWorld>(
68 
70  opt.robot_description_ = "robot_description";
71  opt.load_kinematics_solvers_ = false;
72  robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader(opt));
73  planning_scene::PlanningScene ps(rml->getModel());
74 
75  std::ifstream f(argv[filename_index]);
76  if (f.good() && !f.eof())
77  {
78  ROS_INFO("Publishing geometry from '%s' ...", argv[filename_index]);
79  ps.loadGeometryFromStream(f);
80  moveit_msgs::PlanningScene ps_msg;
81  ps.getPlanningSceneMsg(ps_msg);
82  ps_msg.is_diff = true;
83 
84  ros::WallDuration dt(0.5);
85  unsigned int attempts = 0;
86  while (pub_scene.getNumSubscribers() < 1 && ++attempts < 100)
87  dt.sleep();
88 
89  if (full_scene)
90  pub_scene.publish(ps_msg);
91  else
92  pub_scene.publish(ps_msg.world);
93 
94  sleep(1);
95  }
96  else
97  ROS_WARN("Unable to load '%s'.", argv[filename_index]);
98  }
99  else
100  ROS_WARN("A filename was expected as argument. That file should be a text representation of the geometry in a "
101  "planning scene.");
102 
103  ros::shutdown();
104  return 0;
105 }
f
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_WARN(...)
void spinner()
std::string robot_description_
The string name corresponding to the ROS param where the URDF is loaded; Using the same parameter nam...
bool sleep() const
Structure that encodes the options to be passed to the RobotModelLoader constructor.
#define ROS_INFO(...)
static const std::string DEFAULT_PLANNING_SCENE_TOPIC
The name of the topic used by default for receiving full planning scenes or planning scene diffs...
int main(int argc, char **argv)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ROSCPP_DECL void shutdown()


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 16 2018 19:27:56