From b1ae818aa0fc44dc5f0886d66063c3db0479e92e Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Mon, 8 Nov 2021 23:36:22 +0400 Subject: [PATCH] :pencil2: fix planning scene monitor topics --- rasms_moveit_actions/src/run_moveit.cpp | 5 +++++ rasms_moveit_config/config/moveit_cpp.yml | 6 +++--- rasms_moveit_config/launch/rasms_moveit_interface.launch.py | 4 ++-- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/rasms_moveit_actions/src/run_moveit.cpp b/rasms_moveit_actions/src/run_moveit.cpp index 7d36409..d75bd85 100644 --- a/rasms_moveit_actions/src/run_moveit.cpp +++ b/rasms_moveit_actions/src/run_moveit.cpp @@ -48,12 +48,17 @@ int main(int argc, char** argv) RCLCPP_INFO(LOGGER, "Starting MoveIt Tutorials..."); auto moveit_cpp_ptr = std::make_shared(node); + // get error in thes line moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService(); + RCLCPP_INFO(LOGGER, "Success getPlanningSceneMonitor()"); auto planning_components = std::make_shared(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 // ^^^^^^^^^^^^^ diff --git a/rasms_moveit_config/config/moveit_cpp.yml b/rasms_moveit_config/config/moveit_cpp.yml index 27b2f46..d1f6682 100644 --- a/rasms_moveit_config/config/moveit_cpp.yml +++ b/rasms_moveit_config/config/moveit_cpp.yml @@ -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: diff --git a/rasms_moveit_config/launch/rasms_moveit_interface.launch.py b/rasms_moveit_config/launch/rasms_moveit_interface.launch.py index a556a98..3f4afdd 100644 --- a/rasms_moveit_config/launch/rasms_moveit_interface.launch.py +++ b/rasms_moveit_config/launch/rasms_moveit_interface.launch.py @@ -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(