From 2e190cfd7d9c07a29e586bfe2f1e7769bd993ccb Mon Sep 17 00:00:00 2001 From: v4hn Date: Wed, 1 Mar 2017 15:44:19 +0100 Subject: [PATCH] enable open-gripper in plan_pick --- src/plan_pick.cpp | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/plan_pick.cpp b/src/plan_pick.cpp index d14a6b65..f5bc4476 100644 --- a/src/plan_pick.cpp +++ b/src/plan_pick.cpp @@ -1,23 +1,29 @@ #include -#include #include +#include + +#include using namespace moveit::task_constructor; -int main(){ +int main(int argc, char** argv){ + ros::init(argc, argv, "plan_pick"); + ros::AsyncSpinner spinner(1); + spinner.start(); + Task t; t.addStart( std::make_shared("current state") ); -/* { - auto move= std::make_shared("open gripper"); + auto move= std::make_shared("open gripper"); move->setGroup("gripper"); move->setTo("open"); t.addAfter(move); } +/* { auto move= std::make_shared("move to pre-grasp"); move->setGroup("arm");