diff --git a/demo/src/moveit_task_constructor_demo.cpp b/demo/src/moveit_task_constructor_demo.cpp index 89442b13..03b72b1d 100644 --- a/demo/src/moveit_task_constructor_demo.cpp +++ b/demo/src/moveit_task_constructor_demo.cpp @@ -119,11 +119,17 @@ int main(int argc, char** argv) { pick_place_task.init(); if (pick_place_task.plan()) { ROS_INFO_NAMED(LOGNAME, "Planning succeded"); - pick_place_task.execute(); + if (pnh.param("execute", false)) { + pick_place_task.execute(); + } else { + ROS_INFO_NAMED(LOGNAME, "Execution disabled"); + } } else { ROS_INFO_NAMED(LOGNAME, "Planning failed"); } + ROS_INFO_NAMED(LOGNAME, "Execution complete"); + // Keep introspection alive ros::waitForShutdown(); return 0;