From 0c43d3542870eab0e6f143ba81ddd02ab60378c1 Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Fri, 10 Feb 2023 01:30:13 +0100 Subject: [PATCH] ... --- src/bt/execution.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/bt/execution.cpp b/src/bt/execution.cpp index ad9ecce..39b2611 100644 --- a/src/bt/execution.cpp +++ b/src/bt/execution.cpp @@ -23,6 +23,12 @@ BT::NodeStatus Execution::tick() { BT::NodeStatus Execution::onStart(){ if (it_ != ets_.solution.sub_trajectory.end()){ std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff); + for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_names) ROS_INFO("%s", e.c_str()); + for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_values) { + for (auto en: e.enabled){ + ROS_INFO("%f", en); + } + } executions_->insert_or_assign(mr_reference_->name(), pair); it_++; return BT::NodeStatus::RUNNING; -- GitLab