save_geometry_to_file_service_capability.cpp

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/* Author: Bilal Gill */
 
#include "save_geometry_to_file_service_capability.h"
 
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/move_group/capability_names.h>
#include <moveit/utils/logger.hpp>
 
#include <fstream>
 
namespace move_group
{
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("save_geometry_to_file_service");
}
}  // namespace
 
SaveGeometryToFileService::SaveGeometryToFileService() : MoveGroupCapability(SAVE_GEOMETRY_TO_FILE_SERVICE_NAME)
{
}
 
void SaveGeometryToFileService::initialize()
{
  save_geometry_service_ = context_->moveit_cpp_->getNode()->create_service<moveit_msgs::srv::SaveGeometryToFile>(
      SAVE_GEOMETRY_TO_FILE_SERVICE_NAME,
      [this](const std::shared_ptr<moveit_msgs::srv::SaveGeometryToFile::Request>& req,
             const std::shared_ptr<moveit_msgs::srv::SaveGeometryToFile::Response>& res) {
        std::ofstream file(req->file_path_and_name);
        if (!file.is_open())
        {
          RCLCPP_ERROR(getLogger(), "Unable to open file %s for saving CollisionObjects",
                       req->file_path_and_name.c_str());
          res->success = false;
          return;
        }
        planning_scene_monitor::LockedPlanningSceneRO locked_ps(context_->planning_scene_monitor_);
        locked_ps->saveGeometryToStream(file);
        file.close();
        res->success = true;
      }  // End of callback function
  );
}
}  // namespace move_group
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::SaveGeometryToFileService, move_group::MoveGroupCapability)