collision_plugin_loader.cpp

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#include <moveit/collision_plugin_loader/collision_plugin_loader.hpp>
#include <moveit/utils/logger.hpp>
 
namespace collision_detection
{
CollisionPluginLoader::CollisionPluginLoader() : logger_(moveit::getLogger("moveit.ros.collision_plugin_loader"))
{
}
 
void CollisionPluginLoader::setupScene(const rclcpp::Node::SharedPtr& node,
                                       const planning_scene::PlanningScenePtr& scene)
{
  if (!scene)
  {
    RCLCPP_WARN(logger_, "Cannot setup scene, PlanningScenePtr is null.");
    return;
  }
 
  std::string param_name;
  std::string collision_detector_name;
 
  if (node->has_parameter("collision_detector"))
  {
    node->get_parameter("collision_detector", collision_detector_name);
  }
  else if (node->has_parameter(("/move_group/collision_detector")))
  {
    // Check for existence in move_group namespace
    // mainly for rviz plugins to get same collision detector.
    node->get_parameter("/move_group/collision_detector", collision_detector_name);
  }
  else
  {
    return;
  }
 
  if (collision_detector_name.empty())
  {
    // This is not a valid name for a collision detector plugin
    return;
  }
 
  activate(collision_detector_name, scene);
  RCLCPP_INFO(logger_, "Using collision detector: %s", scene->getCollisionDetectorName().c_str());
}
 
}  // namespace collision_detection