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demo: add 'execute' parameter
useful for testing parameters
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@ -119,11 +119,17 @@ int main(int argc, char** argv) {
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pick_place_task.init();
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if (pick_place_task.plan()) {
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ROS_INFO_NAMED(LOGNAME, "Planning succeded");
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pick_place_task.execute();
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if (pnh.param("execute", false)) {
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pick_place_task.execute();
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} else {
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ROS_INFO_NAMED(LOGNAME, "Execution disabled");
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}
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} else {
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ROS_INFO_NAMED(LOGNAME, "Planning failed");
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}
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ROS_INFO_NAMED(LOGNAME, "Execution complete");
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// Keep introspection alive
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ros::waitForShutdown();
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return 0;
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