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Commit 86999b7b authored by KingMaZito's avatar KingMaZito
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parent 49371e2c
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......@@ -908,18 +908,18 @@ void Moveit_mediator::task_planner(){
if(t.joinable()) 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);
}
}
}
// 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);
// merge_acm(ps_m);
// planning_scene_diff_publisher_->publish(ps_m);
}
......
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