From b9d2b9b7828816933dcc5f1c14931ba0cfdd6407 Mon Sep 17 00:00:00 2001
From: Rick <rick.staa@outlook.com>
Date: Thu, 14 Nov 2019 12:39:52 +0100
Subject: [PATCH] :sparkles: Adds .panda_simulation folder creation
functionality
The robot_control_node.cpp file now first tries to add the .panda_simulation
folder before throwing an error.
---
CMakeLists.txt | 2 +-
launch/simulation.launch | 6 +++---
src/robot_control_node.cpp | 20 ++++++++++++++++++--
3 files changed, 22 insertions(+), 6 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc6fad6..4357e71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@ message(${JSONCPP_LIBRARIES})
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
catkin_package(
- CATKIN_DEPENDS
+ CATKIN_DEPENDS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
diff --git a/launch/simulation.launch b/launch/simulation.launch
index c7f3b09..b3471f2 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -37,7 +37,7 @@
<arg name="load_robot_description" value="true"/>
<arg name="load_gripper" value="$(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
diff --git a/src/robot_control_node.cpp b/src/robot_control_node.cpp
index e1f857b..beb175b 100644
--- a/src/robot_control_node.cpp
+++ b/src/robot_control_node.cpp
@@ -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;
--
GitLab