diff --git a/cmake-build-debug/CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o b/cmake-build-debug/CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o index 5a059d3a44812a8c935d6ebcf8daa66d7afc759a..893085f71f3d1d37832e9a55c9c1243cae1d4d01 100644 Binary files a/cmake-build-debug/CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o and b/cmake-build-debug/CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o differ diff --git a/cmake-build-debug/devel/lib/robot_models/robot_models_node b/cmake-build-debug/devel/lib/robot_models/robot_models_node index 257958c9c035a2498ae5744f8534265e939d1c3d..a55fd5d5e1f09b00cccf5906c3b4c0683bdf8c9c 100755 Binary files a/cmake-build-debug/devel/lib/robot_models/robot_models_node and b/cmake-build-debug/devel/lib/robot_models/robot_models_node differ diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp index 52de81fd27329438add1da9bba4d0b1204b33c6a..0946334f54ab35941c936b08358f469f3d7c5923 100644 --- a/src/robot_models_node.cpp +++ b/src/robot_models_node.cpp @@ -47,6 +47,10 @@ void pub(const std_msgs::UInt32::ConstPtr& msg) world world1; auto robot1 = new robotfpe; + world1.c = robot1; + world1.humans = new humanspace; + world1.humans->humannum = 1; + abstractobject o1; graspobject o2; hand o3; @@ -86,7 +90,7 @@ void pub(const std_msgs::UInt32::ConstPtr& msg) robot1->moving = false; robot1->grasppos = true; robot1->planninggrp = "Panda Teaching"; - + robot1->h = new hand{}; robot1->h->grippos = {12.1, 14.3, 18.2}; auto *obstacle1 = new obstacle{}; @@ -123,7 +127,7 @@ void pub(const std_msgs::UInt32::ConstPtr& msg) o9.b2->w = 1.9; */ ros::Subscriber sub = node_handle.subscribe("updateDectectedHumans", 1000, pub); - //ros::spin(); + ros::spin(); tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer);