From a9cd82f6c0a8e04c2b6972429f29a3f69082e366 Mon Sep 17 00:00:00 2001 From: Stephanie Date: Thu, 22 Aug 2024 23:49:20 -0400 Subject: [PATCH] Remove deprecated jump threshold from Cartesian plan --- exercise1/src/exercise1-2/solution/main.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/exercise1/src/exercise1-2/solution/main.cpp b/exercise1/src/exercise1-2/solution/main.cpp index 986b162..4a19f5d 100644 --- a/exercise1/src/exercise1-2/solution/main.cpp +++ b/exercise1/src/exercise1-2/solution/main.cpp @@ -49,10 +49,9 @@ int main(int argc, char* argv[]) // Exercise 1-2 Plan a Cartesian path moveit_msgs::msg::RobotTrajectory trajectory; - const double jump_threshold = 0.0; const double eef_step = 0.002; - const double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); + const double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, trajectory); if (fraction > 0) {