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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
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@ -51,6 +51,10 @@ namespace moveit { namespace core {
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MOVEIT_CLASS_FORWARD(RobotState)
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MOVEIT_CLASS_FORWARD(RobotState)
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}}
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}}
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namespace robot_model_loader {
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MOVEIT_CLASS_FORWARD(RobotModelLoader)
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}
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namespace moveit { namespace task_constructor {
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namespace moveit { namespace task_constructor {
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MOVEIT_CLASS_FORWARD(Stage)
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MOVEIT_CLASS_FORWARD(Stage)
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@ -140,6 +144,7 @@ protected:
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private:
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private:
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std::string id_;
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std::string id_;
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robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
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moveit::core::RobotModelConstPtr robot_model_;
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moveit::core::RobotModelConstPtr robot_model_;
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bool preempt_requested_;
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bool preempt_requested_;
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@ -109,8 +109,8 @@ void Task::setRobotModel(const core::RobotModelConstPtr& robot_model)
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}
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}
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void Task::loadRobotModel(const std::string& robot_description) {
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void Task::loadRobotModel(const std::string& robot_description) {
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robot_model_loader::RobotModelLoader rml(robot_description);
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robot_model_loader_ = std::make_shared<robot_model_loader::RobotModelLoader>(robot_description);
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setRobotModel(rml.getModel());
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setRobotModel(robot_model_loader_->getModel());
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if (!robot_model_)
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if (!robot_model_)
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throw Exception("Task failed to construct RobotModel");
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throw Exception("Task failed to construct RobotModel");
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}
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}
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