Advice needed on Creating Planning Scene Extension for Moveit Planning Scene

[LetianLi]

I'm currently working on adding a new custom layer Planning Scene Extension for the 3D Panel that displays the items in a moveit Planning Scene. I've run into an issue.

For this to work, I need to be able to callService("/get_planning_scene") to get the entire planning scene, before relying on diffs from the topic "/planning_scene".

I've run into a problem in that SceneExtensions don't have access to the BuiltinPanelExtensionContext which includes the callService() function.

I'm thinking of adding the SceneExtensionContext into the SceneExtensionConfig so that when registering the new scene extension it can pass the context into the extension's constructor. I've put code here.

// SceneExtensionConfig.ts

// Factory function to create SceneExtensionConfig with context injection
export function createSceneExtensionConfig(
  context?: Partial<BuiltinPanelExtensionContext>
): SceneExtensionConfig {
  return {
    reserved: {}, // Reserved extensions not shown here
    extensionsById: {
      // Other extensions left out here
      [FoxgloveGrid.extensionId]: { // Usual registration
        init: (renderer: IRenderer) => new FoxgloveGrid(renderer),
      },
      [PlanningScenes.extensionId]: { // New addition
        // Inject context (e.g., callService) into PlanningScenes
        init: (renderer: IRenderer) => new PlanningScenes(renderer, context?.callService),
        supportedInterfaceModes: ["3d"],
      },
	  // Other extensions not shown here
    },
  };
}

// ThreeDeeRender.tsx
export function ThreeDeeRender(props: Readonly<ThreeDeeRenderProps>): React.JSX.Element {
  const { context, interfaceMode, testOptions, customSceneExtensions, customCameraModels } = props;
  const {
    initialState,
    saveState,
    unstable_fetchAsset: fetchAsset,
    callService, // Extract callService from context
    unstable_setMessagePathDropConfig: setMessagePathDropConfig,
  } = context;
  // Code in between not shown
  useEffect(() => {
    const newRenderer = canvas
      ? new Renderer({
          canvas,
          config: configRef.current,
          interfaceMode,
          fetchAsset,
          // Use the factory function to create scene extension config with context
          sceneExtensionConfig: _.merge(
            {},
			// DEFAULT_SCENE_EXTENSION_CONFIG, // It used to be this
            createSceneExtensionConfig({ callService }), // Pass context subset with callService to the factory
            customSceneExtensions ?? {},
          ),
          displayTemporaryError,
          testOptions,
          customCameraModels,
        })
      : undefined;
    setRenderer(newRenderer);
    rendererRef.current = newRenderer;
    return () => {
      rendererRef.current?.dispose();
      rendererRef.current = undefined;
    };
  }, [
    canvas,
    configRef,
    config.scene.transforms?.enablePreloading,
    customSceneExtensions,
    customCameraModels,
    interfaceMode,
    fetchAsset,
    callService, // Include callService in dependencies
    testOptions,
    displayTemporaryError,
  ]);
  // Code after not shown
}

I'd like some thoughts on if this is a good direction or a bad implementation (contamination).