Commit a65493df authored by Jennifer Buehler's avatar Jennifer Buehler
Browse files

small adjustments for tutorial

parent f868f990
......@@ -92,7 +92,10 @@ void GazeboGraspFix::InitValues(){
}
void GazeboGraspFix::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
void GazeboGraspFix::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
{
std::cout<<"Loading grasp-fix plugin"<<std::endl;
this->model = _parent;
this->world = this->model->GetWorld();
this->physics = this->model->GetWorld()->GetPhysicsEngine();
......
......@@ -6,7 +6,7 @@ int main(int argc, char** argv) {
if (argc < 5)
{
ROS_INFO("Usage: %s <name> [x y z].",argv[0]);
ROS_INFO("Usage: %s <name> [x y z] [frame_id].",argv[0]);
return 0;
}
......@@ -22,11 +22,14 @@ int main(int argc, char** argv) {
float y=0;
float z=0;
std::string frame_id="world";
if (argc>2) x=atof(argv[2]);
if (argc>3) y=atof(argv[3]);
if (argc>4) z=atof(argv[4]);
spawner.spawnCube(name,"world",x,y,z,0,0,0,1);
if (argc>5) frame_id=argv[5];
spawner.spawnCube(name,frame_id,x,y,z,0,0,0,1);
return 0;
}
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