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Update start_state after execution on Moveit #83

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merged 1 commit into from
Jan 30, 2019
Merged

Update start_state after execution on Moveit #83

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2 changes: 2 additions & 0 deletions ..._manipulator_controller/include/open_manipulator_controller/open_manipulator_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h>
#include <std_msgs/String.h>
#include <std_msgs/Empty.h>
#include <boost/thread.hpp>
#include <unistd.h>

Expand Down Expand Up @@ -71,6 +72,7 @@ class OpenManipulatorController
std::vector<ros::Publisher> open_manipulator_kinematics_pose_pub_;
ros::Publisher open_manipulator_joint_states_pub_;
std::vector<ros::Publisher> gazebo_goal_joint_position_pub_;
ros::Publisher moveit_update_start_state_;

// ROS Subscribers
ros::Subscriber open_manipulator_option_sub_;
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10 changes: 10 additions & 0 deletions open_manipulator_controller/src/open_manipulator_controller.cpp
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Expand Up @@ -157,6 +157,10 @@ void OpenManipulatorController::initPublisher()
gazebo_goal_joint_position_pub_.push_back(pb);
}
}
if (using_moveit_ == true)
{
moveit_update_start_state_ = node_handle_.advertise<std_msgs::Empty>("rviz/moveit/update_start_state", 10);
}
}
void OpenManipulatorController::initSubscriber()
{
Expand Down Expand Up @@ -746,6 +750,12 @@ void OpenManipulatorController::moveitTimer(double present_time)
{
step_cnt = 0;
moveit_plan_flag_ = false;
if (moveit_update_start_state_.getNumSubscribers() == 0)
{
robotis_manipulator_log::warn("Could not update the start state! Enable External Communications at the Moveit Plugin");
}
std_msgs::Empty msg;
moveit_update_start_state_.publish(msg);
}
}
}
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2 changes: 1 addition & 1 deletion open_manipulator_moveit/launch/moveit.rviz
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Expand Up @@ -40,7 +40,7 @@ Visualization Manager:
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_External_Program: true
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
Expand Down