From af6f7b12bfa9584bc44c89833c89be2651a375df Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 18 Oct 2018 10:19:50 +0200 Subject: [PATCH] pick_pa10: fix initialization of RobotState only a subset of joints was initialized --- core/test/pick_pa10.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/core/test/pick_pa10.cpp b/core/test/pick_pa10.cpp index 00eb6a07..bc848c1e 100644 --- a/core/test/pick_pa10.cpp +++ b/core/test/pick_pa10.cpp @@ -53,6 +53,7 @@ TEST(PA10, pick) { { auto scene = std::make_shared(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(); }