Update to later moveit2 version

PickNikRobotics · May 3, 2023 · eaa3701 · eaa3701
1 parent 609fc20
commit eaa3701
Show file tree

Hide file tree

Showing 3 changed files with 14 additions and 15 deletions.
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -144,13 +144,13 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		state = scene->getCurrentState();
 	}
 
-	plan.plan_components_.reserve(solution.sub_trajectory.size());
+	plan.plan_components.reserve(solution.sub_trajectory.size());
 	auto make_executable_trajectory =
 	    [&](const moveit_task_constructor_msgs::msg::SubTrajectory& sub_traj, const std::string& description,
 	        const std::function<bool(const plan_execution::ExecutableMotionPlan*)>& on_success_callback) {
-		    plan.plan_components_.emplace_back();
-		    plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components_.back();
-		    exec_traj.description_ = description;
+		    plan.plan_components.emplace_back();
+		    plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
+		    exec_traj.description = description;
 		    const moveit::core::JointModelGroup* group = nullptr;
 		    {
 			    std::vector<std::string> joint_names(sub_traj.trajectory.joint_trajectory.joint_names);
@@ -166,12 +166,12 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 				    RCLCPP_DEBUG(LOGGER, "Using JointModelGroup '%s' for execution", group->getName().c_str());
 			    }
 		    }
-		    exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
-		    exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
-		    exec_traj.controller_names_ = sub_traj.execution_info.controller_names;
+		    exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
+		    exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
+		    exec_traj.controller_name = sub_traj.execution_info.controller_names;
 
 		    /* todo add action feedback and markers */
-		    exec_traj.effect_on_success_ = on_success_callback;
+		    exec_traj.effect_on_success = on_success_callback;
 		    return true;
 	    };
 

diff --git a/core/include/moveit/task_constructor/stages/generate_random_pose.h b/core/include/moveit/task_constructor/stages/generate_random_pose.h
@@ -74,8 +74,8 @@ class GenerateRandomPose : public GeneratePose
 	 * PoseDimension (X/Y/Z/ROLL/PITCH/YAW) for randomizing the pose.
 	 * The distribution_param is applied to the specified distribution method while the target pose value is used as
 	 * seed. The order in which the PoseDimension samplers are specified matters as the samplers are applied in sequence.
-	* That way it's possible to implement different Euler angles (i.e. XYZ, ZXZ, YXY) or even construct more complex
-	* sampling regions by applying translations after rotations.
+	 * That way it's possible to implement different Euler angles (i.e. XYZ, ZXZ, YXY) or even construct more complex
+	 * sampling regions by applying translations after rotations.
 	 * Currently supported distributions are:
 	 * * std::uniform_real_distrubtion: distribution_param specifies the full value range around the target_pose value
 	 * * std::normal_distribution: distribution_param is used as stddev, target_pose value is mean

diff --git a/core/src/stages/connect.cpp b/core/src/stages/connect.cpp
@@ -164,11 +164,10 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
 
 		// Do not push partial solutions
 		if (success) {
-			sub_trajectories.push_back(trajectory);  
-		}
-		else {
-			// Pushing a nullptr instead of a failed trajectory. 
-			sub_trajectories.push_back(nullptr); 
+			sub_trajectories.push_back(trajectory);
+		} else {
+			// Pushing a nullptr instead of a failed trajectory.
+			sub_trajectories.push_back(nullptr);
 		}
 
 		if (!success)