From 68a3af3fedf4c614ce91662435bf7771f187dced Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 10 Nov 2016 21:56:23 +0900 Subject: [PATCH] add moveit config init option in baxter-interface this option is needed for customize baxter like jsk_baxter_apc --- jsk_baxter_robot/baxtereus/baxter-interface.l | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/jsk_baxter_robot/baxtereus/baxter-interface.l b/jsk_baxter_robot/baxtereus/baxter-interface.l index 988c350ece..dd38f92b4b 100644 --- a/jsk_baxter_robot/baxtereus/baxter-interface.l +++ b/jsk_baxter_robot/baxtereus/baxter-interface.l @@ -13,7 +13,9 @@ :slots (gripper-sequence-id right-gripper-action left-gripper-action right-gripper-type left-gripper-type moveit-robot)) (defmethod baxter-interface - (:init (&rest args) + (:init (&rest args &key ((:moveit-environment mvit-env) (instance baxter-moveit-environment)) + ((:moveit-robot mvit-rb) (instance baxter-robot :init)) + &allow-other-keys) (prog1 (send-super* :init :robot baxter-robot :joint-states-topic "/robot/joint_states" :groupname "baxter_interface" args) (send self :add-controller :larm-controller) (send self :add-controller :rarm-controller) @@ -44,8 +46,8 @@ (setq gripper-sequence-id 0) (ros::spin-once) - (setq moveit-robot (instance baxter-robot :init)) - (send self :set-moveit-environment (instance baxter-moveit-environment :init :robot moveit-robot)) + (if mvit-rb (setq moveit-robot mvit-rb)) + (if mvit-env (send self :set-moveit-environment (send mvit-env :init :robot moveit-robot))) )) (:right-property-cb (msg) (setq right-gripper-type (send msg :id))