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Commit 49371e2c authored by KingMaZito's avatar KingMaZito
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parent 8647ddd2
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...@@ -904,12 +904,22 @@ void Moveit_mediator::task_planner(){ ...@@ -904,12 +904,22 @@ void Moveit_mediator::task_planner(){
} }
} }
for(auto& t : th){ for(auto& t : th){
if(t.joinable()) t.join(); if(t.joinable()) t.join();
} }
//merge_acm(ps_m);
//planning_scene_diff_publisher_->publish(ps_m); 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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