Demo3: More bug fixes to template from runthrough

ros-industrial · Mar 4, 2019 · 9d3a3a4 · 9d3a3a4
1 parent c464ca8
commit 9d3a3a4
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/...ation_Based_Planning/template_ws/src/pick_and_place/include/test_bed_core/trajopt_utils.h b/...ation_Based_Planning/template_ws/src/pick_and_place/include/test_bed_core/trajopt_utils.h
@@ -4,5 +4,7 @@
 //#include <trajopt/typedefs.hpp>
 #include <tesseract_planning/basic_planner_types.h>
 
-trajectory_msgs::JointTrajectory trajArrayToJointTrajectoryMsg(std::vector<std::string> joint_names, tesseract::TrajArray traj_array, ros::Duration time_increment);
-
+trajectory_msgs::JointTrajectory trajArrayToJointTrajectoryMsg(std::vector<std::string> joint_names,
+                                                               tesseract::TrajArray traj_array,
+                                                               bool use_time = false,
+                                                               ros::Duration time_increment = ros::Duration(0.0));
diff --git a/...es/Optimization_Based_Planning/template_ws/src/pick_and_place/src/sensor_simulator_3d.cpp b/...es/Optimization_Based_Planning/template_ws/src/pick_and_place/src/sensor_simulator_3d.cpp
@@ -16,6 +16,7 @@
 #include <tf_conversions/tf_eigen.h>
 
 #include <chrono>
+#include <boost/pointer_cast.hpp>
 
 static Eigen::Affine3d lookat(const Eigen::Vector3d& origin, const Eigen::Vector3d& eye, const Eigen::Vector3d& up)
 {

diff --git a/...mization_Based_Planning/template_ws/src/pick_and_place_perception/src/perception_node.cpp b/...mization_Based_Planning/template_ws/src/pick_and_place_perception/src/perception_node.cpp
@@ -426,7 +426,7 @@ class PerceptionPipeline
   tf::TransformBroadcaster br_;
 
   // Configuration data
-  std::string cloud_topic, world_frame, camera_frame;
+  std::string cloud_topic1, cloud_topic2, cloud_topic3, world_frame, camera_frame;
   double voxel_leaf_size;
   double x_filter_min, x_filter_max, y_filter_min, y_filter_max, z_filter_min, z_filter_max;
   double plane_max_iter, plane_dist_thresh;