v0.1

rbs_skill_interfaces/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(moveit_msgs REQUIRED)
+find_package(shape_msgs REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
@@ -26,7 +27,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "srv/AssembleState.srv"
     "srv/GetPickPlacePoses.srv"
     "srv/AddPlanningSceneObject.srv"
-    DEPENDENCIES std_msgs geometry_msgs moveit_msgs
+    "srv/PlanningSceneObjectState.srv"
+    DEPENDENCIES std_msgs geometry_msgs moveit_msgs shape_msgs
 )
 
 

rbs_skill_interfaces/package.xml

@@ -14,6 +14,7 @@
 
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>shape_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rbs_skill_interfaces/srv/PlanningSceneObjectState.srv

@@ -0,0 +1,15 @@
+# ADD - add new object to planning scene
+uint8 ADD=0
+# REMOVE - remove object from planning scene
+uint8 REMOVE=1
+# UPDATE - update object positions or geometry
+uint8 UPDATE=2
+
+string frame_name
+shape_msgs/Mesh mesh
+geometry_msgs/PoseStamped pose
+uint8  req_kind
+
+---
+bool call_status
+string error_msg