apply_planning_scene_service_capability.cpp

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/* Author: Michael Goerner */
 
#include "apply_planning_scene_service_capability.h"
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/move_group/capability_names.h>
 
namespace move_group
{
static const rclcpp::Logger LOGGER =
    rclcpp::get_logger("moveit_move_group_default_capabilities.apply_planning_scene_service_capability");
 
ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("ApplyPlanningSceneService")
{
}
 
void ApplyPlanningSceneService::initialize()
{
  using std::placeholders::_1;
  using std::placeholders::_2;
  using std::placeholders::_3;
 
  service_ = context_->moveit_cpp_->getNode()->create_service<moveit_msgs::srv::ApplyPlanningScene>(
      APPLY_PLANNING_SCENE_SERVICE_NAME,
      [this](const std::shared_ptr<rmw_request_id_t>& request_header,
             const std::shared_ptr<moveit_msgs::srv::ApplyPlanningScene::Request>& req,
             const std::shared_ptr<moveit_msgs::srv::ApplyPlanningScene::Response>& res) {
        return applyScene(request_header, req, res);
      });
}
 
bool ApplyPlanningSceneService::applyScene(const std::shared_ptr<rmw_request_id_t>& /* unused */,
                                           const std::shared_ptr<moveit_msgs::srv::ApplyPlanningScene::Request>& req,
                                           const std::shared_ptr<moveit_msgs::srv::ApplyPlanningScene::Response>& res)
{
  if (!context_->planning_scene_monitor_)
  {
    RCLCPP_ERROR(LOGGER, "Cannot apply PlanningScene as no scene is monitored.");
    return true;
  }
  context_->planning_scene_monitor_->updateFrameTransforms();
  res->success = context_->planning_scene_monitor_->newPlanningSceneMessage(req->scene);
  return true;
}
}  // namespace move_group
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::ApplyPlanningSceneService, move_group::MoveGroupCapability)