OMPLPlannerService(planning_scene_monitor::PlanningSceneMonitor &psm, bool debug = false) :
nh_("~"), psm_(psm), ompl_interface_(psm.getPlanningScene()->getRobotModel()), debug_(debug)
{
plan_service_ = nh_.advertiseService(PLANNER_SERVICE_NAME, &OMPLPlannerService::computePlan, this);
if (debug_)
{
pub_plan_ = nh_.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 100);
pub_request_ = nh_.advertise<moveit_msgs::MotionPlanRequest>("motion_plan_request", 100);
}
}
OMPLPlannerService(planning_scene_monitor::PlanningSceneMonitor &psm, bool debug = false) :
nh_("~"), psm_(psm), ompl_interface_(psm.getPlanningScene()->getRobotModel()), debug_(debug)
{
plan_service_ = nh_.advertiseService(PLANNER_SERVICE_NAME, &OMPLPlannerService::computePlan, this);
benchmark_service_ = nh_.advertiseService(BENCHMARK_SERVICE_NAME, &OMPLPlannerService::computeBenchmark, this);
construct_ca_service_ = nh_.advertiseService(CONSTRUCT_CONSTRAINT_APPROXIMATION_SERVICE_NAME, &OMPLPlannerService::constructConstraintApproximation, this);
if (debug_)
{
pub_plan_ = nh_.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 100);
pub_request_ = nh_.advertise<moveit_msgs::MotionPlanRequest>("motion_plan_request", 100);
}
}