fixed mtc issue

.catkin_tools/profiles/default/devel_collisions.txt

 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 12632
+/home/matteo/reachability/devel/./cmake.lock 12715
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79

src/ceti_double/config/panda.srdf

@@ -64,8 +64,8 @@
     </group_state>
 
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="hand_1" parent_link="panda_1_link8" group="hand_1"/>
-    <end_effector name="hand_2" parent_link="panda_2_link8" group="hand_2"/>
+    <end_effector name="hand_1" parent_link="panda_1_link8" group="hand_1" parent_group="panda_arm1"/>
+    <end_effector name="hand_2" parent_link="panda_2_link8" group="hand_2" parent_group="panda_arm2"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="virtual_joint1" type="fixed" parent_frame="world" child_link="base_1"/>
     <virtual_joint name="virtual_joint2" type="fixed" parent_frame="world" child_link="base_2"/>

src/mtc/include/impl/moveit_robot.h

@@ -12,6 +12,7 @@ class Moveit_robot : public Robot{
     public:
     Moveit_robot(std::string name, tf2::Transform tf) : Robot(name, tf){
         mgi_ = new moveit::planning_interface::MoveGroupInterface(name);
+        ROS_INFO("planning frame: %s", mgi_->getPlanningFrame().c_str());
     }
 
 

src/mtc/mtc_task_file/dummy.yaml

+
 planners:
   - id: "cartesian"
     type: "CartesianPath"
@@ -160,7 +161,7 @@ task:
             set:
               monitored_stage: "pick_up"
               pose:
-                point: {x: 0.1, y: 0.7, z: 0.9305}
+                point: {x: 0.1, y: 0.3, z: 0.9305}
                 orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
         - type: "MoveTo"
           planner: "sampling"
@@ -201,7 +202,7 @@ task:
           planner: "sampling"
           propertiesConfigureInitFrom:
             source: "PARENT"
-            value:
+            values:
             - "group"
           set:
             goal: "ready"

src/mtc/src/impl/map_loader.cpp

@@ -325,7 +325,7 @@ void Map_loader::write_task(){
 
     stage_in_stage["stage"]["type"] = "GeneratePose";
     stage_in_stage["stage"]["set"]["monitored_stage"] = "pick_up";
-    stage_in_stage["stage"]["set"]["pose"]["point"] = YAML::Load("{ x: 0.1, y: 0.7, z: 0.9305 }"); // Hier objekt
+    stage_in_stage["stage"]["set"]["pose"]["point"] = YAML::Load("{ x: 0.1, y: 0.3, z: 0.9305 }"); // Hier objekt
     stage_in_stage["stage"]["set"]["pose"]["orientation"] = YAML::Load("{ x: 0.0, y: 0.0, z: 0.0, w: 1.0}");
     stage["stages"].push_back(stage_in_stage);
     stage_in_stage.reset(); 
@@ -368,7 +368,7 @@ void Map_loader::write_task(){
     stage_in_stage["type"] = "MoveTo";
     stage_in_stage["planner"] = "sampling";
     stage_in_stage["propertiesConfigureInitFrom"]["source"]= "PARENT";
-    stage_in_stage["propertiesConfigureInitFrom"]["value"].push_back("group");
+    stage_in_stage["propertiesConfigureInitFrom"]["values"].push_back("group");
     stage_in_stage["set"]["goal"] = "ready";
     stage["stages"].push_back(stage_in_stage);
     stage_in_stage.reset();