Add SaveGeometryToFile and LoadGeometryFromFile services
#2973
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CI is failing because moveit/moveit_msgs#181 is not merged. |
sjahr
reviewed
Aug 21, 2024
moveit_ros/move_group/src/default_capabilities/load_geometry_from_file_service_capability.h
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moveit_ros/move_group/src/default_capabilities/load_geometry_from_file_service_capability.h
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moveit_ros/move_group/default_capabilities_plugin_description.xml
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moveit_ros/move_group/default_capabilities_plugin_description.xml
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moveit_ros/move_group/src/default_capabilities/load_geometry_from_file_service_capability.cpp
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moveit_ros/move_group/src/default_capabilities/save_geometry_to_file_service_capability.cpp
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moveit_ros/move_group/src/default_capabilities/save_geometry_to_file_service_capability.cpp
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moveit_ros/move_group/src/default_capabilities/save_geometry_to_file_service_capability.cpp
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| return; | ||
| } | ||
| planning_scene_monitor::LockedPlanningSceneRO locked_ps(context_->planning_scene_monitor_); | ||
| locked_ps->saveGeometryToStream(file); |
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Dump question: Have you checked that these file operation don't throw? (This is just a nit question and not supposed to block the PR)
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I have not, I can look into it more.
moveit_ros/move_group/src/default_capabilities/save_geometry_to_file_service_capability.h
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sjahr
approved these changes
Aug 22, 2024
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Description
This PR adds services which can be used to save/load CollisionObjects to/from files. This depends on moveit/moveit_msgs#181.
Checklist