From a65493df6a88cc49cd37daf4c714ba641a8cb83b Mon Sep 17 00:00:00 2001
From: Jennifer Buehler <jennifer.e.buehler@gmail.com>
Date: Sat, 27 Feb 2016 21:58:03 +0100
Subject: [PATCH] small adjustments for tutorial
---
gazebo_grasp_plugin/src/GazeboGraspFix.cpp | 5 ++++-
gazebo_test_tools/src/cube_spawner_node.cpp | 9 ++++++---
2 files changed, 10 insertions(+), 4 deletions(-)
diff --git a/gazebo_grasp_plugin/src/GazeboGraspFix.cpp b/gazebo_grasp_plugin/src/GazeboGraspFix.cpp
index c990fda..b268cfa 100644
--- a/gazebo_grasp_plugin/src/GazeboGraspFix.cpp
+++ b/gazebo_grasp_plugin/src/GazeboGraspFix.cpp
@@ -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();
diff --git a/gazebo_test_tools/src/cube_spawner_node.cpp b/gazebo_test_tools/src/cube_spawner_node.cpp
index 3cd7c91..59d716e 100644
--- a/gazebo_test_tools/src/cube_spawner_node.cpp
+++ b/gazebo_test_tools/src/cube_spawner_node.cpp
@@ -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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