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enable open-gripper in plan_pick
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@ -1,23 +1,29 @@
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#include <moveit_task_constructor/task.h>
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#include <moveit_task_constructor/task.h>
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#include <moveit_task_constructor/subtask.h>
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#include <moveit_task_constructor/subtasks/current_state.h>
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#include <moveit_task_constructor/subtasks/current_state.h>
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#include <moveit_task_constructor/subtasks/gripper.h>
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#include <ros/ros.h>
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using namespace moveit::task_constructor;
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using namespace moveit::task_constructor;
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int main(){
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int main(int argc, char** argv){
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ros::init(argc, argv, "plan_pick");
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ros::AsyncSpinner spinner(1);
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spinner.start();
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Task t;
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Task t;
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t.addStart( std::make_shared<subtasks::CurrentState>("current state") );
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t.addStart( std::make_shared<subtasks::CurrentState>("current state") );
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/*
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{
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{
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auto move= std::make_shared<subtask::Gripper>("open gripper");
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auto move= std::make_shared<subtasks::Gripper>("open gripper");
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move->setGroup("gripper");
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move->setGroup("gripper");
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move->setTo("open");
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move->setTo("open");
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t.addAfter(move);
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t.addAfter(move);
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}
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}
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/*
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{
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{
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auto move= std::make_shared<subtask::Move>("move to pre-grasp");
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auto move= std::make_shared<subtask::Move>("move to pre-grasp");
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move->setGroup("arm");
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move->setGroup("arm");
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