From 29f84bbc86927a458105b174c73bb74837b0291a Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Mon, 14 Aug 2023 15:38:52 +0000 Subject: [PATCH] [moveit_interface] Fix member naming issue Fixes #51. --- .../src/moveit_interface_obj.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/interbotix_common_toolbox/interbotix_moveit_interface/src/moveit_interface_obj.cpp b/interbotix_common_toolbox/interbotix_moveit_interface/src/moveit_interface_obj.cpp index 9a338df..a48c3ab 100644 --- a/interbotix_common_toolbox/interbotix_moveit_interface/src/moveit_interface_obj.cpp +++ b/interbotix_common_toolbox/interbotix_moveit_interface/src/moveit_interface_obj.cpp @@ -107,7 +107,7 @@ bool InterbotixMoveItInterface::moveit_plan_joint_positions( rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); visual_tools->publishTrajectoryLine( - saved_plan.trajectory, + saved_plan.trajectory_, joint_model_group); visual_tools->trigger(); @@ -127,7 +127,7 @@ bool InterbotixMoveItInterface::moveit_plan_ee_pose(const geometry_msgs::msg::Po rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); visual_tools->publishTrajectoryLine( - saved_plan.trajectory, + saved_plan.trajectory_, joint_model_group); visual_tools->trigger(); @@ -159,7 +159,7 @@ bool InterbotixMoveItInterface::moveit_plan_ee_position(double x, double y, doub rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); visual_tools->publishTrajectoryLine( - saved_plan.trajectory, + saved_plan.trajectory_, joint_model_group); visual_tools->trigger(); @@ -185,7 +185,7 @@ bool InterbotixMoveItInterface::moveit_plan_ee_orientation( rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); visual_tools->publishTrajectoryLine( - saved_plan.trajectory, + saved_plan.trajectory_, joint_model_group); visual_tools->trigger(); @@ -208,7 +208,7 @@ bool InterbotixMoveItInterface::moveit_plan_cartesian_path( trajectory); RCLCPP_INFO( node_->get_logger(), - "Visualizing (Cartesian path) (%.2f%% acheived)", fraction * 100.0); + "Visualizing (Cartesian path) (%.2f%% achieved)", fraction * 100.0); visual_tools->deleteAllMarkers(); visual_tools->publishText( @@ -230,7 +230,7 @@ bool InterbotixMoveItInterface::moveit_plan_cartesian_path( moveit::planning_interface::MoveGroupInterface::Plan plan; saved_plan = plan; - saved_plan.trajectory = trajectory; + saved_plan.trajectory_ = trajectory; // If a plan was found for over 90% of the waypoints... // consider that a successful planning attempt