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>
#include <moveit/utils/logger.hpp>
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.ros.move_group.clear_octomap_service");
}
}  // namespace
 
move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("clear_octomap_service")
{
}
 
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(getLogger(), "Cannot clear octomap since planning scene monitor has not been initialized.");
 
  RCLCPP_INFO(getLogger(), "Clearing octomap...");
  context_->planning_scene_monitor_->clearOctomap();
  RCLCPP_INFO(getLogger(), "Octomap cleared.");
}
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::ClearOctomapService, move_group::MoveGroupCapability)