def get_planning_scene_async(self, callback, errback):
request = dict(components=PlanningSceneComponents(PlanningSceneComponents.SCENE_SETTINGS |
PlanningSceneComponents.ROBOT_STATE |
PlanningSceneComponents.ROBOT_STATE_ATTACHED_OBJECTS |
PlanningSceneComponents.WORLD_OBJECT_NAMES |
PlanningSceneComponents.WORLD_OBJECT_GEOMETRY |
PlanningSceneComponents.ALLOWED_COLLISION_MATRIX |
PlanningSceneComponents.OBJECT_COLORS))
self.GET_PLANNING_SCENE(self, request, callback, errback)
def get_planning_scene(self, callback, components):
"""
"""
reqmsg = GetPlanningSceneRequest(PlanningSceneComponents(components))
def receive_message(msg):
response = GetPlanningSceneResponse.from_msg(msg)
callback(response)
srv = Service(self, '/get_planning_scene',
'moveit_msgs/GetPlanningScene')
request = ServiceRequest(reqmsg.msg)
srv.call(request, receive_message, receive_message)