apply_planning_scene_service_capability.h

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/* Author: Michael 'v4hn' Goerner */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/apply_planning_scene.hpp>
 
namespace move_group
{
class ApplyPlanningSceneService : public MoveGroupCapability
{
public:
  ApplyPlanningSceneService();
 
  void initialize() override;
 
private:
  bool applyScene(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);
 
  rclcpp::Service<moveit_msgs::srv::ApplyPlanningScene>::SharedPtr service_;
};
}  // namespace move_group