moveit_plugin.h

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#ifndef ED_MOVEIT_PLUGIN_H_
#define ED_MOVEIT_PLUGIN_H_
 
#include <ed/plugin.h>
 
#include <ed/types.h>
 
// Communication
#include <ros/callback_queue.h>
#include <ros/service_server.h>
#include <ros/publisher.h>
 
// Configuration
#include <tue/config/configuration.h>
 
//msgs&srvs
#include <moveit_msgs/PlanningSceneWorld.h>
#include <std_srvs/Trigger.h>
 
class MoveitPlugin : public ed::Plugin
{
 
public:
 
    MoveitPlugin();
 
    virtual ~MoveitPlugin();
 
    void configure(tue::Configuration config);
 
    void initialize();
 
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
private:
 
    const ed::WorldModel* world_model_;
 
    ed::UpdateRequest* update_req_;
 
    // Communication
 
    ros::CallbackQueue cb_queue_;
 
 
    ros::ServiceServer srv_publish_moveit_scene_;
    bool srvPublishMoveitScene(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
    ros::Publisher moveit_scene_publisher_;
 
};
 
#endif