Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Accepts all incoming changes. #3120

Merged
merged 1 commit into from
Nov 21, 2024
Merged

Accepts all incoming changes. #3120

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
48 changes: 0 additions & 48 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -117,12 +117,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
throw std::runtime_error(error);
}

<<<<<<< HEAD
joint_model_group_ = getRobotModel()->getJointModelGroup(opt.group_name_);
=======
setStartStateToCurrentState();
joint_model_group_ = getRobotModel()->getJointModelGroup(opt.group_name);
>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))

joint_state_target_ = std::make_shared<moveit::core::RobotState>(getRobotModel());
joint_state_target_->setToDefaultValues();
Expand Down Expand Up @@ -409,21 +405,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl

moveit::core::RobotStatePtr getStartState()
{
<<<<<<< HEAD
if (considered_start_state_)
return considered_start_state_;
else
{
moveit::core::RobotStatePtr s;
getCurrentState(s);
return s;
}
=======
moveit::core::RobotStatePtr s;
getCurrentState(s);
moveit::core::robotStateMsgToRobotState(considered_start_state_, *s, true);
return s;
>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))
}

bool setJointValueTarget(const geometry_msgs::msg::Pose& eef_pose, const std::string& end_effector_link,
Expand Down Expand Up @@ -975,17 +960,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto req = std::make_shared<moveit_msgs::srv::GetCartesianPath::Request>();
moveit_msgs::srv::GetCartesianPath::Response::SharedPtr response;

<<<<<<< HEAD
if (considered_start_state_)
moveit::core::robotStateToRobotStateMsg(*considered_start_state_, req->start_state);
else
req->start_state.is_diff = true;

req->group_name = opt_.group_name_;
=======
req->start_state = considered_start_state_;
req->group_name = opt_.group_name;
>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))
req->header.frame_id = getPoseReferenceFrame();
req->header.stamp = getClock()->now();
req->waypoints = waypoints;
Expand Down Expand Up @@ -1118,14 +1094,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
return allowed_planning_time_;
}

<<<<<<< HEAD
=======
void constructRobotState(moveit_msgs::msg::RobotState& state) const
{
state = considered_start_state_;
}

>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))
void constructMotionPlanRequest(moveit_msgs::msg::MotionPlanRequest& request) const
{
request.group_name = opt_.group_name_;
Expand All @@ -1136,15 +1109,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
request.pipeline_id = planning_pipeline_id_;
request.planner_id = planner_id_;
request.workspace_parameters = workspace_parameters_;
<<<<<<< HEAD

if (considered_start_state_)
moveit::core::robotStateToRobotStateMsg(*considered_start_state_, request.start_state);
else
request.start_state.is_diff = true;
=======
request.start_state = considered_start_state_;
>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))

if (active_target_ == JOINT)
{
Expand Down Expand Up @@ -1663,20 +1628,7 @@ void MoveGroupInterface::stop()

void MoveGroupInterface::setStartState(const moveit_msgs::msg::RobotState& start_state)
{
<<<<<<< HEAD
moveit::core::RobotStatePtr rs;
if (start_state.is_diff)
impl_->getCurrentState(rs);
else
{
rs = std::make_shared<moveit::core::RobotState>(getRobotModel());
rs->setToDefaultValues(); // initialize robot state values for conversion
}
moveit::core::robotStateMsgToRobotState(start_state, *rs);
setStartState(*rs);
=======
impl_->setStartState(start_state);
>>>>>>> 02ebcba72 (Enhancement/moveit ros1 ports (#3041))
}

void MoveGroupInterface::setStartState(const moveit::core::RobotState& start_state)
Expand Down