From 6756d666be67c502251ef1cbc0408f06de3a170c Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Wed, 1 Jul 2020 11:02:19 +0200
Subject: [PATCH] updated defaults to fluid planning
---
src/TimedPlanner.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/TimedPlanner.cpp b/src/TimedPlanner.cpp
index a1d0194..7bb3544 100644
--- a/src/TimedPlanner.cpp
+++ b/src/TimedPlanner.cpp
@@ -22,7 +22,7 @@ namespace PlannerState {
TrajectoryUtil traj_util;
const double default_velocity = 1.0;
- const std::string default_planning_mode = TrajectoryUtil::CARTESIAN_PATH;
+ const std::string default_planning_mode = TrajectoryUtil::FLUID_PATH;
bool isInitialized = false;
bool isLooping = true;
@@ -184,10 +184,10 @@ void doMotion(const ros::NodeHandle &node_handle, moveit::planning_interface::Mo
}
}
- double velocity = 0.0 ;
- std::string planning_mode;
+ double velocity = 0.0;
+ std::string planning_mode = "";
- if (!node_handle.getParam("robot_speed_factor", velocity)) {
+ if (!node_handle.getParam("robot_speed_factor", velocity)) {
velocity = PlannerState::default_velocity;
}
--
GitLab