From 1feea971bad306d19c56703bd2b5d5eaa13d79f1 Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Fri, 10 Feb 2023 00:11:52 +0100
Subject: [PATCH] ...
---
src/impl/moveit_mediator.cpp | 32 ++++++++++++++++----------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index cc30445..da91c63 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -911,22 +911,22 @@ void Moveit_mediator::task_planner(){
}
}
- for(auto& t : th){
- t.join();
- }
-
- for(auto& exec : executions_){
- for (int i = 0; i < robots_.size(); i++){
- if (exec.first == robots_[i]->name()){
- auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
- manipulate_acm(mr, exec.second.second);
- merge_ps(ps_m, exec.second.second, mr);
- }
- }
- }
-
- merge_acm(ps_m);
- planning_scene_diff_publisher_->publish(ps_m);
+ // for(auto& t : th){
+ // t.join();
+ // }
+
+ // for(auto& exec : executions_){
+ // for (int i = 0; i < robots_.size(); i++){
+ // if (exec.first == robots_[i]->name()){
+ // auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
+ // manipulate_acm(mr, exec.second.second);
+ // merge_ps(ps_m, exec.second.second, mr);
+ // }
+ // }
+ // }
+
+ // merge_acm(ps_m);
+ // planning_scene_diff_publisher_->publish(ps_m);
}
--
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