Planning scene (Get or Set)

edit

Hello,

I don't understand why there are examples with this definition:

ros::ServiceClient get_planning_scene_client = nh.serviceClient<arm_navigation_msgs::GetPlanningScene>(SET_PLANNING_SCENE_DIFF_NAME);

GetPlanningScene with a SET_PLANNING_SCENE_DIFF_NAME?

While in other more advanced implementation, I have seen:

get_planning_scene = nh.serviceClient<arm_navigation_msgs::GetPlanningScene>(GET_PLANNING_SCENE_NAME);
set_planning_scene_diff = nh.serviceClient<arm_navigation_msgs::SetPlanningSceneDiff>(SET_PLANNING_SCENE_DIFF_NAME);

And if you want a snapshot of scene you use get, and if want change the scene you use set.

am I wrong? Could anybody explain to me in detail this functions?

Regards