From ff53fcbdc5bfba994d9f72439d0cd858c9b246b1 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 9 Jan 2025 16:54:49 +0900 Subject: [PATCH] =?UTF-8?q?computeCartesianPath=E3=81=AE=E5=A4=89=E6=9B=B4?= =?UTF-8?q?=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/src/cartesian_path.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/crane_x7_examples/src/cartesian_path.cpp b/crane_x7_examples/src/cartesian_path.cpp index de6d07d9..1807a999 100644 --- a/crane_x7_examples/src/cartesian_path.cpp +++ b/crane_x7_examples/src/cartesian_path.cpp @@ -23,7 +23,7 @@ #include "angles/angles.h" #include "geometry_msgs/msg/pose.hpp" #include "geometry_msgs/msg/quaternion.hpp" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" @@ -90,11 +90,8 @@ int main(int argc, char ** argv) } moveit_msgs::msg::RobotTrajectory trajectory; - const double jump_threshold = 0.0; const double eef_step = 0.01; - move_group_arm.computeCartesianPath( - waypoints, eef_step, jump_threshold, - trajectory); + move_group_arm.computeCartesianPath(waypoints, eef_step, trajectory); move_group_arm.execute(trajectory); // SRDFに定義されている"home"の姿勢にする