Niko/franka_moveit_interface
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moveit_interface.cpp works

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This commit is contained in:
Niko Feith 2023-09-05 15:47:03 +02:00
parent 0ff1a065a4
commit 14cccdaff3
1 changed files with 1 additions and 1 deletions
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src/moveit_interface.cpp
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@ -39,7 +39,7 @@ class MoveitInterface : public rclcpp::Node
// const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP); // const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
// //
// planning_scene = std::make_shared<planning_scene::PlanningScene>(robot_model); // planning_scene = std::make_shared<planning_scene::PlanningScene>(robot_model);
// planning_scene->getCurrentStateNonConst().setToDefaultValues(joint_model_group, "ready"); // planning_scene->getCurrentStateNonConst().setToDefaultValues(joint_model_group, "ready")
move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(shared_this), PLANNING_GROUP); move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(shared_this), PLANNING_GROUP);
// const moveit::core::JointModelGroup* joint_model_group = move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP); // const moveit::core::JointModelGroup* joint_model_group = move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP);