Commit 6eebb19a authored by David Tiede's avatar David Tiede
Browse files

Change log level

parent 301583f4
......@@ -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.");
}
......
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