clear_octomap_service_capability.cpp

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/* Author: David Hershberger */

#include "clear_octomap_service_capability.h"
#include <moveit/move_group/capability_names.h>

move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("ClearOctomapService")
{
}

void move_group::ClearOctomapService::initialize()
{
  service_ = root_node_handle_.advertiseService(CLEAR_OCTOMAP_SERVICE_NAME, &ClearOctomapService::clearOctomap, this);
}

bool move_group::ClearOctomapService::clearOctomap(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res)
{
  if (!context_->planning_scene_monitor_)
  {
    ROS_ERROR("Cannot clear octomap since planning_scene_monitor_ does not exist.");
    return true;
  }

  ROS_INFO("Clearing octomap...");
  context_->planning_scene_monitor_->clearOctomap();
  ROS_INFO("Octomap cleared.");
  return true;
}

#include <class_loader/class_loader.hpp>
CLASS_LOADER_REGISTER_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)