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