GenerateGraspPose: require pregrasp pose

This commit is contained in:
Robert Haschke 2018-02-22 21:16:43 +01:00
parent 6a3456f961
commit b767e359e9

View File

@ -105,9 +105,7 @@ bool GenerateGraspPose::compute(){
robot_state::RobotState &robot_state = scene_->getCurrentStateNonConst(); robot_state::RobotState &robot_state = scene_->getCurrentStateNonConst();
const std::string& eef_named_pose = props.get<std::string>("eef_named_pose"); const std::string& eef_named_pose = props.get<std::string>("eef_named_pose");
if(!eef_named_pose.empty()){ robot_state.setToDefaultValues(jmg , eef_named_pose);
robot_state.setToDefaultValues(jmg , eef_named_pose);
}
geometry_msgs::TransformStamped tool2grasp_msg = props.get<geometry_msgs::TransformStamped>("tool_to_grasp_tf"); geometry_msgs::TransformStamped tool2grasp_msg = props.get<geometry_msgs::TransformStamped>("tool_to_grasp_tf");
const std::string &link_name = jmg ->getEndEffectorParentGroup().second; const std::string &link_name = jmg ->getEndEffectorParentGroup().second;