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David Tiede
adapter_pkgs
Commits
4c32d496
Commit
4c32d496
authored
3 years ago
by
David Tiede
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1 changed file
safety_planning_request_adapters/src/add_safety.cpp
+4
-4
4 additions, 4 deletions
safety_planning_request_adapters/src/add_safety.cpp
with
4 additions
and
4 deletions
safety_planning_request_adapters/src/add_safety.cpp
+
4
−
4
View file @
4c32d496
...
@@ -19,18 +19,18 @@ namespace safety_planning_request_adapters
...
@@ -19,18 +19,18 @@ namespace safety_planning_request_adapters
const
planning_interface
::
MotionPlanRequest
&
req
,
planning_interface
::
MotionPlanResponse
&
res
,
const
planning_interface
::
MotionPlanRequest
&
req
,
planning_interface
::
MotionPlanResponse
&
res
,
std
::
vector
<
std
::
size_t
>&
added_path_index
)
const
override
std
::
vector
<
std
::
size_t
>&
added_path_index
)
const
override
{
{
ROS_INFO
(
"
ADAPTER PACKAGE: Adapter
loaded"
);
ROS_INFO
(
"
Safety Planning Request Adapter: Plugin
loaded"
);
bool
result
=
planner
(
planning_scene
,
req
,
res
);
bool
result
=
planner
(
planning_scene
,
req
,
res
);
if
(
result
&&
res
.
trajectory_
)
// Only run after planning
if
(
result
&&
res
.
trajectory_
)
// Only run after planning
{
{
ROS_INFO
(
"
ADAPTER PACKAGE
: Start plugin"
);
ROS_INFO
(
"
Safety Planning Request Adapter
: Start plugin"
);
robot_trajectory
::
RobotTrajectory
&
trajectory
=
*
res
.
trajectory_
;
robot_trajectory
::
RobotTrajectory
&
trajectory
=
*
res
.
trajectory_
;
const
robot_model
::
JointModelGroup
*
group
=
trajectory
.
getGroup
();
const
robot_model
::
JointModelGroup
*
group
=
trajectory
.
getGroup
();
if
(
!
group
)
if
(
!
group
)
{
{
ROS_ERROR
(
"
ADAPTER PACKAGE
: It looks like the planner did not set the group the plan was computed for"
);
ROS_ERROR
(
"
Safety Planning Request Adapter
: It looks like the planner did not set the group the plan was computed for"
);
return
false
;
return
false
;
}
}
...
@@ -52,7 +52,7 @@ namespace safety_planning_request_adapters
...
@@ -52,7 +52,7 @@ namespace safety_planning_request_adapters
}
}
}
}
}
}
ROS_INFO
(
"
ADAPTER PACKAGE
: End plugin"
);
ROS_INFO
(
"
Safety Planning Request Adapter
: End plugin"
);
return
result
;
return
result
;
};
};
};
};
...
...
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