From d3b8e1edb43a6e4fd630cd2f159bdb33a02a20ea Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Tue, 18 Aug 2020 19:49:22 +0300 Subject: [PATCH] Fix moveit_cpp tutorial --- doc/moveit_cpp/config/moveit_cpp.yaml | 3 ++- doc/moveit_cpp/src/moveit_cpp_tutorial.cpp | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/moveit_cpp/config/moveit_cpp.yaml b/doc/moveit_cpp/config/moveit_cpp.yaml index d58884be5..9a69f0dd1 100644 --- a/doc/moveit_cpp/config/moveit_cpp.yaml +++ b/doc/moveit_cpp/config/moveit_cpp.yaml @@ -11,7 +11,8 @@ planning_pipelines: pipeline_names: - ompl -default_planner_options: +plan_request_params: planning_attempts: 1 + planning_pipeline: ompl max_velocity_scaling_factor: 1.0 max_acceleration_scaling_factor: 1.0 diff --git a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp index 355b104fb..da4fb84b1 100644 --- a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp +++ b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp @@ -31,6 +31,7 @@ int main(int argc, char** argv) ROS_INFO_STREAM_NAMED(LOGNAME, "Starting MoveIt Tutorials..."); auto moveit_cpp_ptr = std::make_shared(nh); + moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService(); auto planning_components = std::make_shared(PLANNING_GROUP, moveit_cpp_ptr);