clear_planning_scene`#

Caution

This documentation page has been auto-generated.

It may be missing some details.

/advanced_grasping/clear_planning_scene Quick Facts

Category: Mobile manipulation
Message type: pal_bt_grasping_msgs/ClearScene

Clears the MoveIt! planning scene. See Overview of the Advanced Grasping pipeline.

Quick snippets#

Call the service from command-line#

$ rosservice call /advanced_grasping/clear_planning_scene pal_bt_grasping_msgs/ClearScene
# (tip: press Tab to complete the message prototype)

How to use in your code#

Call the service from a Python script#

#!/usr/bin/env python

import rospy
from pal_bt_grasping_msgs.srv import *

if __name__ == "__main__":

    rospy.wait_for_service("/advanced_grasping/clear_planning_scene")

    try:
        proxy = rospy.ServiceProxy("/advanced_grasping/clear_planning_scene", ClearScene)
        response = proxy(args...) # check the pal_bt_grasping_msgs/ClearScene message type for the expected arguments
        rospy.loginfo(response)

    except rospy.ServiceException as e:
        rospy.logerror("Service call failed: %s" % e)

Call the service from a C++ node#

#include "ros/ros.h"
#include <pal_bt_grasping_msgs/ClearScene.h>
#include <iostream>

using namespace ros;

int main(int argc, char **argv)
{
  ros::init(argc, argv, "advanced_grasping/clear_planning_scene_client");

  NodeHandle n;
  ServiceClient client = n.serviceClient<pal_bt_grasping_msgs::ClearScene>("/advanced_grasping/clear_planning_scene");
  pal_bt_grasping_msgs::ClearScene srv;

  // TODO: adapt to the service parameters
  // srv.request.a = ...;
  // srv.request.b = ...;

  if (client.call(srv))
  {
    // TODO: do something with the result
    // srv.response....;
  }
  else
  {
    ROS_ERROR("Failed to call service /advanced_grasping/clear_planning_scene");
    return 1;
  }

  return 0;
}

/advanced_grasping/clear_planning_scene#

Quick snippets#

How to use in your code#

`/advanced_grasping/clear_planning_scene`#