From b519570a5ad99e35e7870b427cf2f5aba98408ba Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 1 Apr 2020 09:42:08 +0200
Subject: [PATCH] fix position of safety box in gazebo. doc must be
written/updated!
---
src/SafetyAwarePlanner.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/src/SafetyAwarePlanner.cpp b/src/SafetyAwarePlanner.cpp
index 2c34ee6..61cd8b7 100644
--- a/src/SafetyAwarePlanner.cpp
+++ b/src/SafetyAwarePlanner.cpp
@@ -63,6 +63,7 @@ int main(int argc, char** argv)
std::vector<moveit_msgs::CollisionObject> collision_objects = sec.createCentralizedSafetyEnvironment(move_group);
// show safety box in gazebo
+ safety_box_pose.position.z += .5 * safety_box.BOX_Z;
GazeboZoneSpawner::spawnCollisionBox(safety_box, safety_box_pose);
//visual_tools.processCollisionObjectMsg(collision_objects[2], rviz_visual_tools::RED);
--
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