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Allow planning_scene_options to be set trough node parameters. #3652

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Allow planning_scene_options to be set trough node parameters. #3652

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16 changes: 12 additions & 4 deletions moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,13 +79,21 @@ class MoveItCpp
node->get_parameter_or(ns + ".name", name, std::string("planning_scene_monitor"));
node->get_parameter_or(ns + ".robot_description", robot_description, std::string("robot_description"));
node->get_parameter_or(ns + ".wait_for_initial_state_timeout", wait_for_initial_state_timeout, 0.0);
node->get_parameter_or(ns + ".joint_state_topic", joint_state_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
node->get_parameter_or(ns + ".attached_collision_object_topic", attached_collision_object_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
node->get_parameter_or(ns + ".monitored_planning_scene_topic", monitored_planning_scene_topic,
planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
node->get_parameter_or(ns + ".publish_planning_scene_topic", publish_planning_scene_topic,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
}
std::string name;
std::string robot_description;
const std::string joint_state_topic;
const std::string attached_collision_object_topic;
const std::string monitored_planning_scene_topic;
const std::string publish_planning_scene_topic;
std::string joint_state_topic;
std::string attached_collision_object_topic;
std::string monitored_planning_scene_topic;
std::string publish_planning_scene_topic;
double wait_for_initial_state_timeout;
};

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