add generate grasp pose to plan_pick

This doesn't make much sense, but it's nice to see
the structure does not directly fall apart :)
This commit is contained in:
v4hn 2017-03-02 20:33:01 +01:00
parent 30961436f1
commit d1def8235c

View File

@ -2,6 +2,7 @@
#include <moveit_task_constructor/subtasks/current_state.h>
#include <moveit_task_constructor/subtasks/gripper.h>
#include <moveit_task_constructor/subtasks/generate_grasp_pose.h>
#include <ros/ros.h>
@ -38,14 +39,17 @@ int main(int argc, char** argv){
move->towards("object", 0.0, 0.0, 0.0);
t.addAfter(move);
}
*/
{
auto gengrasp= std::make_shared<GenerateGraspPose>("generate grasp pose");
auto gengrasp= std::make_shared<subtasks::GenerateGraspPose>("generate grasp pose");
gengrasp->setEndEffector("s_model_tool0");
gengrasp->setGroup("arm");
gengrasp->setObject("object");
t.addAfter(gengrasp);
}
/*
{
auto move= std::make_shared<subtask::Gripper>("grasp");
move->setGroup("gripper");