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Fixing warehouse services #474

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merged 2 commits into from
Mar 22, 2017
Merged

Fixing warehouse services #474

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fd046f4
Adding try to warehouse service
Mar 21, 2017
2bf2d79
Added info to comment and fixed format
Mar 22, 2017
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21 changes: 18 additions & 3 deletions moveit_ros/warehouse/warehouse/src/warehouse_services.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,11 +133,26 @@ int main(int argc, char** argv)
int port;
node.param<std::string>("warehouse_host", host, "localhost");
node.param<int>("warehouse_port", port, 33829);
warehouse_ros::DatabaseConnection::Ptr conn;

warehouse_ros::DatabaseConnection::Ptr conn = moveit_warehouse::loadDatabase();
conn->setParams(host, port, 5.0);
try
{
conn = moveit_warehouse::loadDatabase();
conn->setParams(host, port, 5.0);

ROS_INFO("Connecting to warehouse on %s:%d", host.c_str(), port);
if (!conn->connect())
{
ROS_ERROR("Failed to connect to DB on %s:%d", host.c_str(), port);
return 1;
}
}
catch (std::exception& ex)
{
ROS_ERROR("%s", ex.what());
return 1;
}

ROS_INFO("Connecting to warehouse on %s:%d", host.c_str(), port);
moveit_warehouse::RobotStateStorage rs(conn);

std::vector<std::string> names;
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