From 6eebb19aa11354bae7b99fa8ac343e01318f3149 Mon Sep 17 00:00:00 2001
From: David Tiede <david.tiede@mailbox.tu-dresden.de>
Date: Tue, 19 Oct 2021 16:27:50 +0200
Subject: [PATCH] Change log level
---
adapter_package/src/adapter_package.cpp | 24 +++++++++++++-----------
1 file changed, 13 insertions(+), 11 deletions(-)
diff --git a/adapter_package/src/adapter_package.cpp b/adapter_package/src/adapter_package.cpp
index 8a5189d..4b37a9d 100644
--- a/adapter_package/src/adapter_package.cpp
+++ b/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.");
}
--
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