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Get the latest Planning Scene State #8

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21 changes: 15 additions & 6 deletions bio_ik_service/src/bio_ik_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,16 +55,25 @@ getPlanningScene(std::string robot_description) {
static std::unordered_map<std::string,
planning_scene_monitor::PlanningSceneMonitorPtr>
planning_scene_monitors;
planning_scene_monitor::PlanningSceneMonitorPtr psm;
if (planning_scene_monitors.find(robot_description) ==
planning_scene_monitors.end()) {
ROS_INFO("connecting to planning scene");
planning_scene_monitors[robot_description] =
planning_scene_monitor::PlanningSceneMonitorPtr(
new planning_scene_monitor::PlanningSceneMonitor(
robot_description));
psm = planning_scene_monitor::PlanningSceneMonitorPtr(
new planning_scene_monitor::PlanningSceneMonitor(
robot_description));
psm->startSceneMonitor("/move_group/monitored_planning_scene");
planning_scene_monitors[robot_description] = psm;
} else {
psm = planning_scene_monitors[robot_description];
}
planning_scene::PlanningSceneConstPtr planning_scene;
bool updated = psm->requestPlanningSceneState("/get_planning_scene");
if (!updated) {
ROS_ERROR_ONCE("failed to get updated planning scene");
return planning_scene;
}
planning_scene::PlanningSceneConstPtr planning_scene =
planning_scene_monitors[robot_description]->getPlanningScene();
planning_scene = psm->getPlanningScene();
if (!planning_scene) {
ROS_ERROR_ONCE("failed to connect to planning scene");
}
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