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…joint_trajectory
action, modifing the server, adding BT plugin, testing
grab2_planner/CMakeLists.txt
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| ${visualization_msgs_TARGETS} | ||
| ${moveit_msgs_TARGETS} | ||
| ${moveit_visual_tools_TARGETS} | ||
| # ${moveit_visual_tools_TARGETS} |
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This is not required
| # ${moveit_visual_tools_TARGETS} |
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we won’t need this package so I think it’s better to remove it for now to avoid any potential issues.
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we won’t need this package so I think it’s better to remove it for now to avoid any potential issues.
Agreed! I meant let's remove the line entirely
grab2_planner/package.xml
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| <depend>moveit_ros_planning</depend> | ||
| <depend>moveit_ros_planning_interface</depend> | ||
| <depend>moveit_visual_tools</depend> | ||
| <!-- <depend>moveit_visual_tools</depend> --> |
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Ditto
| <!-- <depend>moveit_visual_tools</depend> --> |
grab2_planner/CMakeLists.txt
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| find_package(visualization_msgs REQUIRED) | ||
| find_package(moveit_msgs REQUIRED) | ||
| find_package(moveit_visual_tools REQUIRED) | ||
| # find_package(moveit_visual_tools REQUIRED) |
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Same as below
| # find_package(moveit_visual_tools REQUIRED) |
| move_group_interface_->stop(); | ||
| move_group_interface_->clearPoseTargets(); |
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to ensure that any previous motion or targets are cleared before planning a new trajectory,
| <root main_tree_to_execute="MainTree"> | ||
| <BehaviorTree ID="MainTree"> | ||
| <Sequence> | ||
| <ComputeAndSendTrajectory/> |
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Let's keep this a planning action only following the current grab2 schema
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This is just for testing purposes, to quickly check the node functionality, this file should be removed.
Co-authored-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
Co-authored-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
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@zaynabahmad use |
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