From d59cffbbc7d1b489670c01da9fe8111d3a8753ce Mon Sep 17 00:00:00 2001 From: Jens Vanhooydonck Date: Thu, 11 Jul 2024 19:42:15 +0200 Subject: [PATCH] [Moveitpy] new planning scene message (#2885) --- .../planning_scene_monitor/planning_scene_monitor.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp index 0eec42dd18..1df36f6a0c 100644 --- a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp +++ b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp @@ -175,6 +175,15 @@ void initPlanningSceneMonitor(py::module& m) attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene. )") + .def("new_planning_scene_message", &planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage, + py::arg("scene"), + R"( + Called to update the planning scene with a new message. + + Args: + scene (moveit_msgs.msg.PlanningScene): The new planning scene message. + )") + .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly, R"( Returns a read-only context manager for the planning scene.