pick_pa10: fix initialization of RobotState

only a subset of joints was initialized
This commit is contained in:
Robert Haschke 2018-10-18 10:19:50 +02:00
parent e9b16ba7c0
commit af6f7b12bf

View File

@ -53,6 +53,7 @@ TEST(PA10, pick) {
{
auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
auto& state = scene->getCurrentStateNonConst();
state.setToDefaultValues(); // initialize state
state.setToDefaultValues(state.getJointModelGroup("left_arm"), "home");
state.setToDefaultValues(state.getJointModelGroup("right_arm"), "home");
state.update();
@ -179,8 +180,5 @@ int main(int argc, char** argv){
ros::AsyncSpinner spinner(1);
spinner.start();
// wait some time for move_group to come up
ros::WallDuration(5.0).sleep();
return RUN_ALL_TESTS();
}