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Commit eec15ca6 authored by KingMaZito's avatar KingMaZito
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parent 21b20050
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Stage: build
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.catkin_tools/profiles/default/devel_collisions.txt
+ 1
− 1
View file @ eec15ca6
/home/matteo/ws_panda/devel/./cmake.lock 42 /home/matteo/ws_panda/devel/./cmake.lock 42
/home/matteo/reachability/devel/./cmake.lock 26357 /home/matteo/reachability/devel/./cmake.lock 26396
/home/matteo/reachability/devel/lib/libmoveit_grasps.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
/home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79
src/mtc/src/impl/moveit_mediator.cpp
+ 20
− 21
View file @ eec15ca6
...@@ -273,11 +273,11 @@ void Moveit_mediator::setup_task(){ ...@@ -273,11 +273,11 @@ void Moveit_mediator::setup_task(){
ROS_INFO("is_diff: %i", ps1->is_diff); ROS_INFO("is_diff: %i", ps1->is_diff);
ROS_INFO("[Robot 1] link padding"); ROS_INFO("[Robot 1] link padding");
for (auto lp : ps1->link_padding){ for (auto lp : ps1->link_padding){
ROS_INFO("link padding name: %s, padding %d", lp.link_name.c_str(), lp.padding); ROS_INFO("link padding name: %s, padding %f", lp.link_name.c_str(), lp.padding);
} }
ROS_INFO("[Robot 1] link scale"); ROS_INFO("[Robot 1] link scale");
for (auto ls : ps1->link_scale){ for (auto ls : ps1->link_scale){
ROS_INFO("link scale name: %s, padding %d", ls.link_name.c_str(), ls.scale); ROS_INFO("link scale name: %s, padding %f", ls.link_name.c_str(), ls.scale);
} }
ROS_INFO("[Robot 1] name"); ROS_INFO("[Robot 1] name");
ROS_INFO("name: %s", ps1->name.c_str()); ROS_INFO("name: %s", ps1->name.c_str());
...@@ -295,22 +295,22 @@ void Moveit_mediator::setup_task(){ ...@@ -295,22 +295,22 @@ void Moveit_mediator::setup_task(){
} }
ROS_INFO("aco dp Points"); ROS_INFO("aco dp Points");
for (auto p : aco.detach_posture.points){ for (auto p : aco.detach_posture.points){
for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %d", pa); for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %f", pa);
for (auto pa : p.effort) ROS_INFO("aco dp points effort: %d", pa); for (auto pa : p.effort) ROS_INFO("aco dp points effort: %f", pa);
ROS_INFO("aco dp points time from start"); ROS_INFO("aco dp points time from start");
for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %d", pa); for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %f", pa);
for (auto pa : p.positions) ROS_INFO("aco dp points tra: %d", pa); for (auto pa : p.positions) ROS_INFO("aco dp points tra: %f", pa);
} }
ROS_INFO("aco link names %s", aco.link_name.c_str()); ROS_INFO("aco link names %s", aco.link_name.c_str());
ROS_INFO("aco collis obj id %s", aco.object.id.c_str()); ROS_INFO("aco collis obj id %s", aco.object.id.c_str());
for (auto p : aco.touch_links) ROS_INFO("aco touch link %s", p.c_str()); for (auto p : aco.touch_links) ROS_INFO("aco touch link %s", p.c_str());
ROS_INFO("aco collis obj weight %d", aco.weight); ROS_INFO("aco collis obj weight %f", aco.weight);
} }
for (auto d : ps1->robot_state.joint_state.position) ROS_INFO("js position %d ", d); for (auto d : ps1->robot_state.joint_state.position) ROS_INFO("js position %f ", d);
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 %f", 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 %f", d);
ROS_INFO ("%s, %i", ps1->robot_state.joint_state.header.frame_id.c_str(), ps1->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);
...@@ -354,11 +354,11 @@ void Moveit_mediator::setup_task(){ ...@@ -354,11 +354,11 @@ void Moveit_mediator::setup_task(){
ROS_INFO("[Robot 2] link padding"); ROS_INFO("[Robot 2] link padding");
for (auto lp : ps2->link_padding){ for (auto lp : ps2->link_padding){
ROS_INFO("link padding name: %s, padding %d", lp.link_name.c_str(), lp.padding); ROS_INFO("link padding name: %s, padding %f", lp.link_name.c_str(), lp.padding);
} }
ROS_INFO("[Robot 2] link scale"); ROS_INFO("[Robot 2] link scale");
for (auto ls : ps2->link_scale){ for (auto ls : ps2->link_scale){
ROS_INFO("link scale name: %s, padding %d", ls.link_name.c_str(), ls.scale); ROS_INFO("link scale name: %s, padding %f", ls.link_name.c_str(), ls.scale);
} }
ROS_INFO("[Robot 2] name"); ROS_INFO("[Robot 2] name");
ROS_INFO("name: %s", ps2->name.c_str()); ROS_INFO("name: %s", ps2->name.c_str());
...@@ -376,25 +376,24 @@ void Moveit_mediator::setup_task(){ ...@@ -376,25 +376,24 @@ void Moveit_mediator::setup_task(){
} }
ROS_INFO("aco dp Points"); ROS_INFO("aco dp Points");
for (auto p : aco.detach_posture.points){ for (auto p : aco.detach_posture.points){
for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %d", pa); for (auto pa : p.accelerations) ROS_INFO("aco dp points acc: %f", pa);
for (auto pa : p.effort) ROS_INFO("aco dp points effort: %d", pa); for (auto pa : p.effort) ROS_INFO("aco dp points effort: %f", pa);
ROS_INFO("aco dp points time from start"); ROS_INFO("aco dp points time from start");
for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %d", pa); for (auto pa : p.velocities) ROS_INFO("aco dp points vel: %f", pa);
for (auto pa : p.positions) ROS_INFO("aco dp points tra: %d", pa); for (auto pa : p.positions) ROS_INFO("aco dp points tra: %f", pa);
} }
ROS_INFO("aco link names %s", aco.link_name.c_str()); ROS_INFO("aco link names %s", aco.link_name.c_str());
ROS_INFO("aco collis obj id %s", aco.object.id.c_str()); ROS_INFO("aco collis obj id %s", aco.object.id.c_str());
for (auto p : aco.touch_links) ROS_INFO("aco touch link %s", p.c_str()); for (auto p : aco.touch_links) ROS_INFO("aco touch link %s", p.c_str());
ROS_INFO("aco collis obj weight %d", aco.weight); ROS_INFO("aco collis obj weight %f", aco.weight);
} }
for (auto d : ps2->robot_state.joint_state.position) ROS_INFO("js position %d ", d); for (auto d : ps2->robot_state.joint_state.position) ROS_INFO("js position %f ", d);
for (auto d : ps2->robot_state.joint_state.name) ROS_INFO(" js name %s", d.c_str()); for (auto d : ps2->robot_state.joint_state.name) ROS_INFO(" js name %s", d.c_str());
for (auto d : ps2->robot_state.joint_state.velocity) ROS_INFO(" js vel %d", d); for (auto d : ps2->robot_state.joint_state.velocity) ROS_INFO(" js vel %f", d);
for (auto d : ps2->robot_state.joint_state.effort) ROS_INFO(" js e %d", d); for (auto d : ps2->robot_state.joint_state.effort) ROS_INFO(" js e %f", d);
ROS_INFO ("%s, %i", ps2->robot_state.joint_state.header.frame_id.c_str(), ps2->robot_state.joint_state.header.seq); ROS_INFO ("%s, %i", ps2->robot_state.joint_state.header.frame_id.c_str(), ps2->robot_state.joint_state.header.seq);
ROS_INFO("rs js id %s", ps2->robot_state.joint_state.position);
for (auto p : ps2->world.collision_objects) ROS_INFO("world co id %s", p.id.c_str()); for (auto p : ps2->world.collision_objects) ROS_INFO("world co id %s", p.id.c_str());
ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps2->world.octomap.origin.position.x, ps2->world.octomap.origin.position.y, ps2->world.octomap.origin.position.z, ps2->world.octomap.origin.orientation.x, ps2->world.octomap.origin.orientation.y, ps2->world.octomap.origin.orientation.z, ps2->world.octomap.origin.orientation.w); ROS_INFO("world om origin %f %f %f, %f %f %f %f", ps2->world.octomap.origin.position.x, ps2->world.octomap.origin.position.y, ps2->world.octomap.origin.position.z, ps2->world.octomap.origin.orientation.x, ps2->world.octomap.origin.orientation.y, ps2->world.octomap.origin.orientation.z, ps2->world.octomap.origin.orientation.w);
ROS_INFO("world om header time, id %s, seq %i", ps2->world.octomap.header.frame_id.c_str(), ps2->world.octomap.header.seq); ROS_INFO("world om header time, id %s, seq %i", ps2->world.octomap.header.frame_id.c_str(), ps2->world.octomap.header.seq);
......
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