Commit b6c778aa authored by David Tiede's avatar David Tiede
Browse files

Replace computeCartesianPath

parent 4c32d496
......@@ -38,20 +38,14 @@ void move_toCallback(const std_msgs::String::ConstPtr& msg)
std::string strA ("A");
std::string strB ("B");
if (strA == msg->data) {
waypoints.push_back(target_pose_1);
group.setPoseTarget(target_pose_1);
} else if (strB == msg->data) {
waypoints.push_back(target_pose_2);
group.setPoseTarget(target_pose_2);
} else {
ROS_WARN("ADAPTER PACKAGE: Wrong message.");
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);
group.setPoseTarget(target_pose_2);
group.move();
ROS_INFO("ADAPTER PACKAGE: Finished movement.");
......
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