From 8647ddd23671cb46ce3c92664a7d4e717cd45385 Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Thu, 9 Feb 2023 17:35:19 +0100 Subject: [PATCH] ... --- src/impl/moveit_mediator.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp index 042d791..adf09ae 100644 --- a/src/impl/moveit_mediator.cpp +++ b/src/impl/moveit_mediator.cpp @@ -898,8 +898,8 @@ void Moveit_mediator::task_planner(){ auto mr = dynamic_cast<Moveit_robot*>(robots_[i]); th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), exec.second.first)); //mr->mgi()->execute(exec.second.first); - manipulate_acm(mr, exec.second.second); - merge_ps(ps_m, exec.second.second, mr); + //manipulate_acm(mr, exec.second.second); + //merge_ps(ps_m, exec.second.second, mr); } } } @@ -908,8 +908,8 @@ void Moveit_mediator::task_planner(){ for(auto& t : th){ if(t.joinable()) t.join(); } - merge_acm(ps_m); - planning_scene_diff_publisher_->publish(ps_m); + //merge_acm(ps_m); + //planning_scene_diff_publisher_->publish(ps_m); } -- GitLab