From d5a2fb1ad89c815f46e367fb93269a26fdde2854 Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Sun, 20 Nov 2022 00:34:13 +0100
Subject: [PATCH] parallel exec looks awesome, sugoi!
---
src/moveit_task_constructor | 1 +
src/mtc/src/impl/moveit_mediator.cpp | 2 +-
2 files changed, 2 insertions(+), 1 deletion(-)
create mode 160000 src/moveit_task_constructor
diff --git a/src/moveit_task_constructor b/src/moveit_task_constructor
new file mode 160000
index 0000000..211b8c7
--- /dev/null
+++ b/src/moveit_task_constructor
@@ -0,0 +1 @@
+Subproject commit 211b8c7d3a013d2f3ea818d336cb4094d0135f3a
diff --git a/src/mtc/src/impl/moveit_mediator.cpp b/src/mtc/src/impl/moveit_mediator.cpp
index 6fd6804..f5effcc 100644
--- a/src/mtc/src/impl/moveit_mediator.cpp
+++ b/src/mtc/src/impl/moveit_mediator.cpp
@@ -304,7 +304,7 @@ void Moveit_mediator::merge_stages(std::vector<std::queue<moveit_task_constructo
void Moveit_mediator::parallel_exec(Moveit_robot& mr, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps){
mr.mgi()->execute(rt);
- planning_scene_diff_publisher_.publish(ps);
+ // planning_scene_diff_publisher_.publish(ps);
}
--
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