recent

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);