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rename default assembly config name in code

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This commit is contained in:
Ilya Uraev 2024-02-16 15:21:59 +03:00
parent 9c56582d9f
commit a211c198ca
1 changed files with 1 additions and 3 deletions
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4
env_manager/gz_enviroment/src/gz_enviroment.cpp
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@ -41,7 +41,7 @@ CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State &) {
m_topic_name = std::string("/world/") + m_world_name + "/dynamic_pose/info";
m_service_spawn = std::string("/world/") + m_world_name + "/create";
m_config_loader = std::make_shared<rbs_utils::AssemblyConfigLoader>(
"asp-example2", getNode());
"asp-example", getNode());
m_follow_frames = m_config_loader->getSceneModelNames();
// m_target_places = std::make_shared<tf2_msgs::msg::TFMessage>();
m_transforms = m_config_loader->getTfData("bishop");
@ -92,8 +92,6 @@ CallbackReturn GzEnviroment::on_deactivate(const rclcpp_lifecycle::State &) {
// TODO: Check to do this via EntityComponentManager
void GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V &pose_v) {
// TODO: Read from config
// m_follow_frames = {"box1", "box2", "box3", "box4", "box5", "box6"};
std::vector<geometry_msgs::msg::TransformStamped> all_transforms{};
for (const auto &it : pose_v.pose()) {