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✏️ fix planning scene monitor topics

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This commit is contained in:
Ilya Uraev 2021-11-08 23:36:22 +04:00
parent 77739576fc
commit b1ae818aa0
3 changed files with 10 additions and 5 deletions
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5
rasms_moveit_actions/src/run_moveit.cpp
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@ -48,12 +48,17 @@ int main(int argc, char** argv)
RCLCPP_INFO(LOGGER, "Starting MoveIt Tutorials...");
auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(node);
// get error in thes line
moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
RCLCPP_INFO(LOGGER, "Success getPlanningSceneMonitor()");
auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
RCLCPP_INFO(LOGGER, "Success getRobotModel()");
auto robot_start_state = planning_components->getStartState();
RCLCPP_INFO(LOGGER, "Success getStartState()");
auto joint_model_group_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);
RCLCPP_INFO(LOGGER, "Success getJointModelGroup()");
// Visualization
// ^^^^^^^^^^^^^

6
rasms_moveit_config/config/moveit_cpp.yml
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@ -4,9 +4,9 @@ rasms_moveit:
name: "planning_scene_monitor"
robot_description: "robot_description"
joint_state_topic: "/joint_states"
attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
attached_collision_object_topic: "/planning_scene_monitor"
publish_planning_scene_topic: "/publish_planning_scene"
monitored_planning_scene_topic: "/monitored_planning_scene"
wait_for_initial_state_timeout: 10.0
planning_pipelines:

4
rasms_moveit_config/launch/rasms_moveit_interface.launch.py
View file

@ -185,8 +185,8 @@ def generate_launch_description():
launch_nodes = []
launch_nodes.append(rviz)
launch_nodes.append(move_group_node)
#launch_nodes.append(moveit_cpp_node)
#launch_nodes.append(move_group_node)
launch_nodes.append(moveit_cpp_node)
return LaunchDescription(