MoveRelative: adapt msgs to fit class name (#39)

This commit is contained in:
llach 2018-04-05 13:46:13 +02:00 committed by Robert Haschke
parent 205beea503
commit 124979e2a8

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@ -109,15 +109,15 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
const std::string& group = props.get<std::string>("group"); const std::string& group = props.get<std::string>("group");
const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group); const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group);
if (!jmg) { if (!jmg) {
ROS_WARN_STREAM("MoveTo: invalid joint model group: " << group); ROS_WARN_STREAM("MoveRelative: invalid joint model group: " << group);
return false; return false;
} }
// only allow single target // only allow single target
size_t count_goals = props.countDefined({"twist", "direction"}); size_t count_goals = props.countDefined({"twist", "direction"});
if (count_goals != 1) { if (count_goals != 1) {
if (count_goals == 0) ROS_WARN("MoveTo: no goal defined"); if (count_goals == 0) ROS_WARN("MoveRelative: no goal defined");
else ROS_WARN("MoveTo: cannot plan to multiple goals"); else ROS_WARN("MoveRelative: cannot plan to multiple goals");
return false; return false;
} }
@ -127,7 +127,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
if (link_name.empty()) if (link_name.empty())
link_name = solvers::getEndEffectorLink(jmg); link_name = solvers::getEndEffectorLink(jmg);
if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) { if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
ROS_WARN_STREAM("MoveTo: no or invalid link name specified: " << link_name); ROS_WARN_STREAM("MoveRelative: no or invalid link name specified: " << link_name);
return false; return false;
} }