clear_octomap_service_capability.h

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/* Author: David Hershberger */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <std_srvs/srv/empty.hpp>
 
namespace move_group
{
class ClearOctomapService : public MoveGroupCapability
{
public:
  ClearOctomapService();
 
  void initialize() override;
 
private:
  void clearOctomap(const std::shared_ptr<std_srvs::srv::Empty::Request>& req,
                    const std::shared_ptr<std_srvs::srv::Empty::Response>& res);
 
  rclcpp::Service<std_srvs::srv::Empty>::SharedPtr service_;
};
}  // namespace move_group