From 86999b7b7576b96da949cba39ca50c045d44e5e1 Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Thu, 9 Feb 2023 17:49:48 +0100 Subject: [PATCH] ... --- src/impl/moveit_mediator.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp index eca4db4..fa3d0e3 100644 --- a/src/impl/moveit_mediator.cpp +++ b/src/impl/moveit_mediator.cpp @@ -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); - } - } - } - - 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); } -- GitLab