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Fix moveit_cpp tutorial #516

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Merged
merged 1 commit into from
Aug 24, 2020
Merged

Fix moveit_cpp tutorial #516

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3 changes: 2 additions & 1 deletion doc/moveit_cpp/config/moveit_cpp.yaml
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Expand Up @@ -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
1 change: 1 addition & 0 deletions doc/moveit_cpp/src/moveit_cpp_tutorial.cpp
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Expand Up @@ -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<moveit::planning_interface::MoveItCpp>(nh);
moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();

auto planning_components =
std::make_shared<moveit::planning_interface::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
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