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Commit 21b20050 authored by KingMaZito's avatar KingMaZito
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parent d7ee3a8d
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...@@ -311,7 +311,7 @@ void Moveit_mediator::setup_task(){ ...@@ -311,7 +311,7 @@ void Moveit_mediator::setup_task(){
for (auto d : ps1->robot_state.joint_state.name) ROS_INFO(" js name %s", d.c_str()); for (auto d : ps1->robot_state.joint_state.name) ROS_INFO(" js name %s", d.c_str());
for (auto d : ps1->robot_state.joint_state.velocity) ROS_INFO(" js vel %d", d); for (auto d : ps1->robot_state.joint_state.velocity) ROS_INFO(" js vel %d", d);
for (auto d : ps1->robot_state.joint_state.effort) ROS_INFO(" js e %d", d); for (auto d : ps1->robot_state.joint_state.effort) ROS_INFO(" js e %d", d);
ROS_INFO ("%s, %i", ps1->robot_state.joint_state.header.frame_id.c_str(), p1->robot_state.joint_state.header.seq); ROS_INFO ("%s, %i", ps1->robot_state.joint_state.header.frame_id.c_str(), ps1->robot_state.joint_state.header.seq);
for (auto p : ps1->world.collision_objects) ROS_INFO("world co id %s", p.id); for (auto p : ps1->world.collision_objects) ROS_INFO("world co id %s", p.id);
ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps1->world.octomap.origin.position.x, ps1->world.octomap.origin.position.y, ps1->world.octomap.origin.position.z, ps1->world.octomap.origin.orientation.x, ps1->world.octomap.origin.orientation.y, ps1->world.octomap.origin.orientation.z, ps1->world.octomap.origin.orientation.w); ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps1->world.octomap.origin.position.x, ps1->world.octomap.origin.position.y, ps1->world.octomap.origin.position.z, ps1->world.octomap.origin.orientation.x, ps1->world.octomap.origin.orientation.y, ps1->world.octomap.origin.orientation.z, ps1->world.octomap.origin.orientation.w);
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