print_planning_scene_info.cpp

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/* Author: Dave Coleman
   Desc:   Simple utility to see all the collision objects in a planning scene, including attached
*/
 
// MoveIt
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <rclcpp/executors/multi_threaded_executor.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/utilities.hpp>
#include <moveit/utils/logger.hpp>
 
static const std::string ROBOT_DESCRIPTION = "robot_description";
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
 
  auto node = rclcpp::Node::make_shared("print_scene_info_to_console");
  moveit::setNodeLoggerName(node->get_name());
 
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(node);
 
  RCLCPP_INFO_STREAM(node->get_logger(), "Getting planning scene info to print");
 
  // Create planning scene monitor
  planning_scene_monitor::PlanningSceneMonitor psm(node, ROBOT_DESCRIPTION);
  if (!psm.getPlanningScene())
  {
    RCLCPP_ERROR_STREAM(node->get_logger(), "Planning scene not configured");
    return 1;
  }
 
  psm.requestPlanningSceneState(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE);
 
  psm.getPlanningScene()->printKnownObjects();
 
  return 0;
}