print_planning_scene_info.cpp
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34 
35 /* Author: Dave Coleman
36  Desc: Simple utility to see all the collision objects in a planning scene, including attached
37 */
38 
39 #include <ros/ros.h>
40 
41 // MoveIt!
43 
44 static const std::string ROBOT_DESCRIPTION = "robot_description";
45 static const std::string LOGNAME = "print_planning_scene_info";
46 
47 int main(int argc, char** argv)
48 {
49  ros::init(argc, argv, "print_model_info_to_console");
50 
52  spinner.start();
53 
54  ros::NodeHandle nh;
55  ROS_INFO_STREAM_NAMED(LOGNAME, "Getting planning scene info to print");
56 
57  // Create planning scene monitor
59  if (!psm.getPlanningScene())
60  {
61  ROS_ERROR_STREAM_NAMED(LOGNAME, "Planning scene not configured");
62  return 1;
63  }
64 
66 
67  psm.getPlanningScene()->printKnownObjects();
68 
69  return 0;
70 }
#define ROS_ERROR_STREAM_NAMED(name, args)
static const std::string DEFAULT_PLANNING_SCENE_SERVICE
The name of the service used by default for requesting full planning scene state. ...
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO_STREAM_NAMED(name, args)
void spinner()
const planning_scene::PlanningScenePtr & getPlanningScene()
Avoid this function! Returns an unsafe pointer to the current planning scene.
PlanningSceneMonitor Subscribes to the topic planning_scene.
bool requestPlanningSceneState(const std::string &service_name=DEFAULT_PLANNING_SCENE_SERVICE)
Request a full planning scene state using a service call Be careful not to use this in conjunction wi...


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Sep 8 2020 04:15:10