clear_octomap_service_capability.cpp

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/* Author: David Hershberger */
 
#include "clear_octomap_service_capability.h"
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/move_group/capability_names.h>
 
static const rclcpp::Logger LOGGER =
    rclcpp::get_logger("moveit_move_group_default_capabilities.clear_octomap_service_capability");
 
move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("ClearOctomapService")
{
}
 
void move_group::ClearOctomapService::initialize()
{
  service_ = context_->moveit_cpp_->getNode()->create_service<std_srvs::srv::Empty>(
      CLEAR_OCTOMAP_SERVICE_NAME,
      [this](const std::shared_ptr<std_srvs::srv::Empty::Request>& req,
             const std::shared_ptr<std_srvs::srv::Empty::Response>& res) { return clearOctomap(req, res); });
}
 
void move_group::ClearOctomapService::clearOctomap(const std::shared_ptr<std_srvs::srv::Empty::Request>& /*req*/,
                                                   const std::shared_ptr<std_srvs::srv::Empty::Response>& /*res*/)
{
  if (!context_->planning_scene_monitor_)
    RCLCPP_ERROR(LOGGER, "Cannot clear octomap since planning_scene_monitor_ does not exist.");
 
  RCLCPP_INFO(LOGGER, "Clearing octomap...");
  context_->planning_scene_monitor_->clearOctomap();
  RCLCPP_INFO(LOGGER, "Octomap cleared.");
}
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)