From eabbfcbe7de2e2f356e9936029f1c431a6d35cd5 Mon Sep 17 00:00:00 2001 From: Toby Buckley Date: Tue, 1 Aug 2023 18:26:46 -0500 Subject: [PATCH 1/2] humble compatability fix --- src/kinematics_plugin.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/kinematics_plugin.cpp b/src/kinematics_plugin.cpp index 28116a4..e7c5fd0 100644 --- a/src/kinematics_plugin.cpp +++ b/src/kinematics_plugin.cpp @@ -366,7 +366,7 @@ struct BioIKKinematicsPlugin : kinematics::KinematicsBase { bool searchPositionIK(const std::vector& ik_poses, const std::vector& ik_seed_state, double timeout, const std::vector& consistency_limits, std::vector& solution, - const IKCallbackFn& solution_callback, const IKCostFn& cost_function, + const IKCallbackFn& solution_callback, IKCostFn cost_function, moveit_msgs::msg::MoveItErrorCodes& error_code, const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(), const moveit::core::RobotState* context_state = nullptr) const override From 1cc891c3f6112990a3fd731ea53faf5408f90e87 Mon Sep 17 00:00:00 2001 From: Toby Buckley Date: Tue, 26 Sep 2023 16:36:42 -0500 Subject: [PATCH 2/2] humble compat --- src/kinematics_plugin.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/kinematics_plugin.cpp b/src/kinematics_plugin.cpp index e7c5fd0..28116a4 100644 --- a/src/kinematics_plugin.cpp +++ b/src/kinematics_plugin.cpp @@ -366,7 +366,7 @@ struct BioIKKinematicsPlugin : kinematics::KinematicsBase { bool searchPositionIK(const std::vector& ik_poses, const std::vector& ik_seed_state, double timeout, const std::vector& consistency_limits, std::vector& solution, - const IKCallbackFn& solution_callback, IKCostFn cost_function, + const IKCallbackFn& solution_callback, const IKCostFn& cost_function, moveit_msgs::msg::MoveItErrorCodes& error_code, const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(), const moveit::core::RobotState* context_state = nullptr) const override