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Motion planner (MoveIt) and Task planner (Plansys) integration

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This commit is contained in:
Roman Andrianov 2023-04-30 11:46:52 +00:00 • committed by Igor Brylyov
parent 0a735b87c9
commit 000ddb4831
43 changed files with 1402 additions and 379 deletions
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4
rbs_skill_servers/src/pick_place_pose_loader.cpp
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@ -24,7 +24,7 @@ void
GetGraspPlacePoseServer::handle_server(const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr request,
rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr response)
{
std::string rrr = request->object_name + "_place"; // TODO: replace with better name
std::string rrr = "ASSEMBLE_" + request->object_name; // TODO: replace with better name
try {
tf_data = tf_buffer_->lookupTransform(
"world", rrr.c_str(),
@ -107,4 +107,4 @@ GetGraspPlacePoseServer::get_Affine_from_arr(const std::vector<double> pose)
aff.translation() = point;
aff.linear() = quat.toRotationMatrix();
return aff;
}
}