Change log level

adapter_package/src/adapter_package.cpp

@@ -26,12 +26,12 @@ void move_toCallback(const std_msgs::String::ConstPtr& msg)
 
     // pose B
     geometry_msgs::Pose target_pose_2 = group.getCurrentPose().pose;
-    target_pose_2.position.z = 0.4;
-    target_pose_2.position.y = 0.4;
-    target_pose_2.position.x = 0.8;
-    target_pose_2.orientation.x = 0;
-    target_pose_2.orientation.y = 0;
-    target_pose_2.orientation.z = 0;
+    target_pose_2.position.z = 0;
+    target_pose_2.position.y = 0.3;
+    target_pose_2.position.x = 0.5;
+    target_pose_2.orientation.x = 0.4;
+    target_pose_2.orientation.y = 0.7;
+    target_pose_2.orientation.z = 0.4;
     target_pose_2.orientation.w = 1;
 
     std::vector<geometry_msgs::Pose> waypoints;
@@ -46,11 +46,13 @@ void move_toCallback(const std_msgs::String::ConstPtr& msg)
         return;
     }
 
-    moveit::planning_interface::MoveGroupInterface::Plan plan;
-    moveit_msgs::RobotTrajectory trajectory_msg;
-    group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory_msg, true);
-    plan.trajectory_ = trajectory_msg;
-    group.execute(plan);
+    ///moveit::planning_interface::MoveGroupInterface::Plan plan;
+    //moveit_msgs::RobotTrajectory trajectory_msg;
+    //group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory_msg, true);
+    //plan.trajectory_ = trajectory_msg;
+    //group.execute(plan);
+    group.setPoseTarget(target_pose_2);
+    group.move();
     ROS_INFO("ADAPTER PACKAGE: Finished movement.");
 
 }