moveit_planning_scene.h

Go to the documentation of this file.

#ifndef _RAPID_MOVEIT_PLANNING_SCENE_H_
#define _RAPID_MOVEIT_PLANNING_SCENE_H_

#include <string>

#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Vector3.h"
#include "ros/ros.h"

namespace rapid {
class MoveItPlanningScene {
 public:
  MoveItPlanningScene();

  explicit MoveItPlanningScene(const std::string& topic);

  void AddBoxObstacle(const std::string& name,
                      const geometry_msgs::PoseStamped& pose_stamped,
                      const geometry_msgs::Vector3& dims);

  void RemoveObstacle(const std::string& name);

 private:
  void Init();

  std::string topic_;
  ros::NodeHandle nh_;
  ros::Publisher pub_;
};
}  // namespace rapid

#endif  // _RAPID_MOVEIT_PLANNING_SCENE_H_