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Planning scene (Get or Set)

asked 2012-11-29 23:54:22 -0500

Sanxano gravatar image


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);


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?


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answered 2012-11-30 00:00:39 -0500

dornhege gravatar image

The latter version you found is correct. Maybe the first one has the define pointing to the correct service name and the variable is just named badly or is doesn't work.

You understanding of the functionality seems also right.

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Asked: 2012-11-29 23:54:22 -0500

Seen: 105 times

Last updated: Nov 30 '12