Skip to content
Snippets Groups Projects
Commit eec15ca6 authored by KingMaZito's avatar KingMaZito
Browse files

...

parent 21b20050
No related branches found
No related tags found
No related merge requests found
Pipeline #15009 failed
Stage: build
Show whitespace changes
Inline Side-by-side
.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);
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment