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>
 
namespace move_group
{
MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService() : MoveGroupCapability("GetPlanningSceneService")
{
}
 
void MoveGroupGetPlanningSceneService::initialize()
{
  context_->planning_scene_monitor_->providePlanningSceneService(GET_PLANNING_SCENE_SERVICE_NAME);
}
 
}  // namespace move_group
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupCapability)