apply_planning_scene_service_capability.cpp
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34 
35 /* Author: Michael Goerner */
36 
39 
40 namespace move_group
41 {
42 ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("ApplyPlanningSceneService")
43 {
44 }
45 
46 void ApplyPlanningSceneService::initialize()
47 {
48  service_ = root_node_handle_.advertiseService(APPLY_PLANNING_SCENE_SERVICE_NAME,
49  &ApplyPlanningSceneService::applyScene, this);
50 }
51 
52 bool ApplyPlanningSceneService::applyScene(moveit_msgs::ApplyPlanningScene::Request& req,
53  moveit_msgs::ApplyPlanningScene::Response& res)
54 {
55  if (!context_->planning_scene_monitor_)
56  {
57  ROS_ERROR_NAMED(getName(), "Cannot apply PlanningScene as no scene is monitored.");
58  return true;
59  }
60  context_->planning_scene_monitor_->updateFrameTransforms();
61  res.success = context_->planning_scene_monitor_->newPlanningSceneMessage(req.scene);
62  return true;
63 }
64 } // namespace move_group
65 
move_group::APPLY_PLANNING_SCENE_SERVICE_NAME
static const std::string APPLY_PLANNING_SCENE_SERVICE_NAME
Definition: capability_names.h:93
move_group::MoveGroupCapability
Definition: move_group_capability.h:89
getName
ROSCONSOLE_CONSOLE_IMPL_DECL std::string getName(void *handle)
ROS_ERROR_NAMED
#define ROS_ERROR_NAMED(name,...)
move_group::ApplyPlanningSceneService
Definition: apply_planning_scene_service_capability.h:80
move_group::ApplyPlanningSceneService::ApplyPlanningSceneService
ApplyPlanningSceneService()
Definition: apply_planning_scene_service_capability.cpp:74
apply_planning_scene_service_capability.h
move_group
Definition: capability_names.h:41
class_loader.hpp
CLASS_LOADER_REGISTER_CLASS
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddIterativeSplineParameterization, planning_request_adapter::PlanningRequestAdapter)
capability_names.h


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Oct 12 2021 02:25:39