demo: add 'execute' parameter

useful for testing parameters
This commit is contained in:
v4hn 2019-10-08 23:35:11 +00:00 committed by Robert Haschke
parent 232ef5e03e
commit 6764b2a9ca

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@ -119,11 +119,17 @@ int main(int argc, char** argv) {
pick_place_task.init(); pick_place_task.init();
if (pick_place_task.plan()) { if (pick_place_task.plan()) {
ROS_INFO_NAMED(LOGNAME, "Planning succeded"); 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 { } else {
ROS_INFO_NAMED(LOGNAME, "Planning failed"); ROS_INFO_NAMED(LOGNAME, "Planning failed");
} }
ROS_INFO_NAMED(LOGNAME, "Execution complete");
// Keep introspection alive // Keep introspection alive
ros::waitForShutdown(); ros::waitForShutdown();
return 0; return 0;