Merge pull request #35 from ipa-jsk/noetic-devel

Add service to get all frame names

frame_editor/CMakeLists.txt

@@ -63,6 +63,7 @@ add_service_files(
   AlignFrame.srv
   EditFrame.srv
   GetFrame.srv
+  GetFrameNames.srv
   RemoveFrame.srv
   SetFrame.srv
   SetParentFrame.srv

frame_editor/src/frame_editor/interface_services.py

@@ -25,6 +25,7 @@ def __init__(self, frame_editor):
         rospy.Service("~align_frame", AlignFrame, self.callback_align_frame)
         rospy.Service("~edit_frame", EditFrame, self.callback_edit_frame)
         rospy.Service("~get_frame", GetFrame, self.callback_get_frame)
+        rospy.Service("~get_frame_names", GetFrameNames, self.callback_get_frame_names)
         rospy.Service("~remove_frame", RemoveFrame, self.callback_remove_frame)
         rospy.Service("~set_frame", SetFrame, self.callback_set_frame)
         rospy.Service("~set_parent", SetParentFrame, self.callback_set_parent_frame)
@@ -112,6 +113,18 @@ def callback_get_frame(self, request):
             response.pose = ToPose(f.position, f.orientation)
 
         return response
+
+
+    def callback_get_frame_names(self, request):
+        print("> Request to get frame names")
+
+        response = GetFrameNamesResponse()
+        response.error_code = 0
+
+        for frame in self.editor.frames.values():
+            response.names.append(frame.name)
+
+        return response
 
 
     def callback_remove_frame(self, request):

frame_editor/srv/GetFrameNames.srv

@@ -0,0 +1,3 @@
+---
+int32 error_code
+string[] names