From b6c778aa006bf8fc74c5ef091209cf9c37f52184 Mon Sep 17 00:00:00 2001
From: David Tiede <david.tiede@mailbox.tu-dresden.de>
Date: Tue, 19 Oct 2021 16:52:34 +0200
Subject: [PATCH] Replace computeCartesianPath
---
adapter_package/src/adapter_package.cpp | 10 ++--------
1 file changed, 2 insertions(+), 8 deletions(-)
diff --git a/adapter_package/src/adapter_package.cpp b/adapter_package/src/adapter_package.cpp
index 4b37a9d..ac45da7 100644
--- a/adapter_package/src/adapter_package.cpp
+++ b/adapter_package/src/adapter_package.cpp
@@ -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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