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Unverified Commit cde500f9 authored by Erdal Pekel's avatar Erdal Pekel Committed by GitHub
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Merge pull request #7 from rickstaa/add_collision_file_creation

:sparkles: Adds .panda_simulation folder creation functionality
parents 326208db b9d2b9b7
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......@@ -40,7 +40,7 @@ message(${JSONCPP_LIBRARIES})
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
catkin_package(
CATKIN_DEPENDS
CATKIN_DEPENDS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
......
......@@ -37,7 +37,7 @@
<arg name="load_robot_description" value="true"/>
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch" >
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<group if="$(arg gui)">
......@@ -45,8 +45,8 @@
</group>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
<!-- launch robot control node for moveit motion planning -->
<node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" />
<node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen"/>
</launch>
\ No newline at end of file
......@@ -80,8 +80,24 @@ int main(int argc, char **argv)
if (!fs::exists(app_directory) && !fs::is_directory(app_directory))
{
ROS_ERROR_STREAM(app_directory << " does not exist");
return -1;
ROS_WARN_STREAM(app_directory << " does not exist");
// Create .panda_simulation directory
std::string path(getenv("HOME"));
path += "/.panda_simulation";
ROS_INFO("Creating %s collision objects directory.", path);
try
{
boost::filesystem::create_directory(path);
}
catch (const std::exception&)
{
ROS_ERROR(
"%s directory could not be created."
"Please create this directory yourself "
"if you want to specify collision objects.", path.c_str());
return -1;
}
}
std::vector<moveit_msgs::CollisionObject> collision_objects;
......
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