Niko/franka_moveit_interface
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

moveit_interface.cpp works

Browse Source
This commit is contained in:
Niko Feith 2023-09-05 15:47:19 +02:00
parent 14cccdaff3
commit 9c6069c1b3
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/moveit_interface.cpp
View File

@ -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);