robossembler/runtime
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fix merge mistakes

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This commit is contained in:
Ilya Uraev 2023-12-22 22:40:42 +03:00
parent 77e155954a
commit f722a8d3f5
1 changed files with 10 additions and 15 deletions
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25
rbs_bt_executor/src/PoseEstimation.cpp
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@ -23,10 +23,12 @@ public:
while (!_set_params_client->wait_for_service(1s)) { while (!_set_params_client->wait_for_service(1s)) {
if (!rclcpp::ok()) { if (!rclcpp::ok()) {
RCLCPP_ERROR(_node->get_logger(), "Interrupted while waiting for the service. Exiting."); RCLCPP_ERROR(_node->get_logger(),
"Interrupted while waiting for the service. Exiting.");
break; break;
} }
RCLCPP_WARN(_node->get_logger(), "service not available, waiting again..."); RCLCPP_WARN(_node->get_logger(),
"service not available, waiting again...");
} }
_model_name = getInput<std::string>("ObjectName").value(); _model_name = getInput<std::string>("ObjectName").value();
@ -80,7 +82,7 @@ private:
} else if (req_type == "cleanup") { } else if (req_type == "cleanup") {
transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP; transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP;
} }
//calibrate // calibrate
translation.set__id(transition_id_); translation.set__id(transition_id_);
return translation; return translation;
} }
@ -95,18 +97,11 @@ private:
} }
void set_str_param() { void set_str_param() {
RCLCPP_INFO_STREAM(_node->get_logger(), "Set string parameter: <" + _model_name + ">"); RCLCPP_INFO_STREAM(_node->get_logger(),
"Set string parameter: <" + _model_name + ">");
std::vector<rclcpp::Parameter> _parameters{rclcpp::Parameter("mesh_path", _model_name)}; std::vector<rclcpp::Parameter> _parameters{
_set_params_client->set_parameters(_parameters); rclcpp::Parameter("mesh_path", _model_name)};
}
void set_mesh_param() {
auto _package_name = ament_index_cpp::get_package_share_directory("rbs_perception");
_model_path = build_model_path(_model_name, _package_name);
RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
std::vector<rclcpp::Parameter> _parameters{rclcpp::Parameter("mesh_path", _model_name)};
_set_params_client->set_parameters(_parameters); _set_params_client->set_parameters(_parameters);
} }
@ -117,7 +112,7 @@ private:
RCLCPP_INFO_STREAM(_node->get_logger(), _model_path); RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
std::vector<rclcpp::Parameter> _parameters{ std::vector<rclcpp::Parameter> _parameters{
rclcpp::Parameter("mesh_path", _model_path)}; rclcpp::Parameter("mesh_path", _model_name)};
_set_params_client->set_parameters(_parameters); _set_params_client->set_parameters(_parameters);
} }
}; };