robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

commit

Browse source
This commit is contained in:
Splinter1984 2021-11-29 23:52:04 +07:00
parent 1835046b72
commit 8ac7ee77df
1 changed files with 2 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

3
rasms_manipulator/src/behavior_tree_nodes/Move.cpp
View file

@ -88,7 +88,7 @@ void Move::on_tick()
std::cerr << "No coordinate for waypoint [" << goal << "]" << std::endl; std::cerr << "No coordinate for waypoint [" << goal << "]" << std::endl;
} }
std::string PLANNING_GROUP = "rasms_arm_group";\ std::string PLANNING_GROUP = "rasms_arm_group";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
geometry_msgs::msg::PoseStamped goal_pos; geometry_msgs::msg::PoseStamped goal_pos;
@ -106,6 +106,7 @@ void Move::on_tick()
if (success) if (success)
{ {
move_group.execute(my_plan); move_group.execute(my_plan);
move_group.move();
} else { } else {
return; return;
} }