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pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
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@ -53,6 +53,7 @@ TEST(PA10, pick) {
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{
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auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
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auto& state = scene->getCurrentStateNonConst();
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state.setToDefaultValues(); // initialize state
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state.setToDefaultValues(state.getJointModelGroup("left_arm"), "home");
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state.setToDefaultValues(state.getJointModelGroup("right_arm"), "home");
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state.update();
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@ -179,8 +180,5 @@ int main(int argc, char** argv){
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ros::AsyncSpinner spinner(1);
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spinner.start();
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// wait some time for move_group to come up
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ros::WallDuration(5.0).sleep();
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return RUN_ALL_TESTS();
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}
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