Add services for LoadGeometryFromFile and SaveGeometryToFile serv…

…ices (#181)
moveit · Aug 21, 2024 · 6f79103 · 6f79103
1 parent c713195
commit 6f79103
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -91,7 +91,9 @@ set(srv_files
   "srv/GetPlannerParams.srv"
   "srv/SetPlannerParams.srv"
   "srv/UpdatePointcloudOctomap.srv"
+  "srv/SaveGeometryToFile.srv"
   "srv/SaveMap.srv"
+  "srv/LoadGeometryFromFile.srv"
   "srv/LoadMap.srv"
   "srv/SaveRobotStateToWarehouse.srv"
   "srv/ListRobotStatesInWarehouse.srv"

diff --git a/srv/LoadGeometryFromFile.srv b/srv/LoadGeometryFromFile.srv
@@ -0,0 +1,4 @@
+# This service loads CollisionObjects from a .scene file into a PlanningScene
+string file_path_and_name
+---
+bool success
diff --git a/srv/SaveGeometryToFile.srv b/srv/SaveGeometryToFile.srv
@@ -0,0 +1,4 @@
+# This service saves the CollisionObjects present in a PlanningScene to a .scene file
+string file_path_and_name
+---
+bool success