[baxtereus] add :angle-vector-sequence for moveit #728
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k-okada
reviewed
Nov 17, 2016
| @@ -249,15 +249,17 @@ | |||
| (when (send self :simulation-modep) | |||
| (return-from :angle-vector (send* self :angle-vector-raw av tm args))) | |||
| (when (not (numberp tm)) | |||
| (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args")) | |||
| (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args~%")) | |||
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better to use
(warning-message 3 "hoge")
??
k-okada
reviewed
Nov 17, 2016
| (return-from :angle-vector (send* self :angle-vector-raw av tm args))))) | ||
| (:angle-vector-sequence (avs &rest args) | ||
| (send* self :angle-vector-sequence-raw avs args)) |
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I think we can set multiple waypoint in planning. how about add multiple jointconstraint at https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus_moveit/euslisp/robot-moveit.l#L224 ?
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@k-okada i tried to make :angle-vector-sequence-motion-plan method in jsk-ros-pkg/jsk_pr2eus#259, but i got error
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with this code, non-move-arm (i.e. :rarm if move-arm is :larm) moves and follow normal angle-vector (without moveit) even if move-arm is set. detail information: see jsk-ros-pkg/jsk_robot#728
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:angle-vector-sequence -> :angle-vector-sequence-motion-plan
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please merge this |
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Requires jsk-ros-pkg/jsk_pr2eus#259
Main Change
:angle-vector-sequencefor moveit:angle-vector-sequence->:angle-vector-sequence-motion-planMinor Change
baxter-util.l