cb_detach_object.cpp

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <move_group_interface_client/client_behaviors/cb_detach_object.h>
#include <move_group_interface_client/cl_movegroup.h>
 
namespace cl_move_group_interface
{
    void CbDetachObject::onEntry()
    {
        cl_move_group_interface::GraspingComponent *graspingComponent;
        this->requiresComponent(graspingComponent);
 
        cl_move_group_interface::ClMoveGroup *moveGroupClient;
        this->requiresClient(moveGroupClient);
 
        auto &planningSceneInterface = moveGroupClient->planningSceneInterface;
 
        moveGroupClient->moveGroupClientInterface.detachObject(*(graspingComponent->currentAttachedObjectName));
        planningSceneInterface.removeCollisionObjects({*(graspingComponent->currentAttachedObjectName)});
    }
 
    void CbDetachObject::onExit()
    {
    }
} // namespace cl_move_group_interface