From de79dedbfcbf33388a46f35066da4b70f617159c Mon Sep 17 00:00:00 2001 From: Rajendra Singh Date: Thu, 16 Jan 2020 19:05:53 +0530 Subject: [PATCH] Generalised code for object_name Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code. --- demo/src/pick_place_task.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/demo/src/pick_place_task.cpp b/demo/src/pick_place_task.cpp index cfcde431..241c0985 100644 --- a/demo/src/pick_place_task.cpp +++ b/demo/src/pick_place_task.cpp @@ -84,7 +84,7 @@ void PickPlaceTask::loadParameters() { void PickPlaceTask::init() { ROS_INFO_NAMED(LOGNAME, "Initializing task pipeline"); - const std::string object = "object"; + const std::string object = object_name_; // Reset ROS introspection before constructing the new object // TODO(henningkayser): verify this is a bug, fix if possible @@ -121,7 +121,7 @@ void PickPlaceTask::init() { { auto _current_state = std::make_unique("current state"); - // Verify that object is not attachd + // Verify that object is not attached auto applicability_filter = std::make_unique("applicability test", std::move(_current_state)); applicability_filter->setPredicate([object](const SolutionBase& s, std::string& comment) {