get_planning_scene_service_capability.cpp

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/* Author: Ioan Sucan */

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

move_group::MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService()
  : MoveGroupCapability("GetPlanningSceneService")
{
}

void move_group::MoveGroupGetPlanningSceneService::initialize()
{
  get_scene_service_ = root_node_handle_.advertiseService(
      GET_PLANNING_SCENE_SERVICE_NAME, &MoveGroupGetPlanningSceneService::getPlanningSceneService, this);
}

bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
                                                                           moveit_msgs::GetPlanningScene::Response& res)
{
  if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
    context_->planning_scene_monitor_->updateFrameTransforms();
  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
  ps->getPlanningSceneMsg(res.scene, req.components);
  return true;
}

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