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some_changes_for_ros_noetic #64

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some_changes_for_ros_noetic #64

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4 changes: 2 additions & 2 deletions base_placement_plugin/include/base_placement_plugin/create_marker.h
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Expand Up @@ -9,7 +9,7 @@
#include <Eigen/Eigen>
#include <eigen_conversions/eigen_msg.h>

#include<moveit/move_group_interface/move_group.h>
#include<moveit/move_group_interface/move_group_interface.h>
#include<moveit/robot_state/robot_state.h>

#include<moveit/robot_model_loader/robot_model_loader.h>
Expand Down Expand Up @@ -52,7 +52,7 @@ class CreateMarker{

std::string group_name_;
ros::AsyncSpinner spinner;
boost::scoped_ptr<moveit::planning_interface::MoveGroup> group_;
boost::scoped_ptr<moveit::planning_interface::MoveGroupInterface> group_;
std::string parent_link;
moveit::core::RobotModelConstPtr robot_model_; //Robot model const pointer
};
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2 changes: 1 addition & 1 deletion base_placement_plugin/include/base_placement_plugin/place_base.h
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Expand Up @@ -8,7 +8,7 @@
#include<base_placement_plugin/create_marker.h>

#include<moveit/planning_scene_monitor/planning_scene_monitor.h>
#include<moveit/move_group_interface/move_group.h>
#include<moveit/move_group_interface/move_group_interface.h>
#include<moveit/robot_model_loader/robot_model_loader.h>
#include<moveit/robot_model/robot_model.h>
#include<moveit/robot_model/joint_model_group.h>
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2 changes: 1 addition & 1 deletion base_placement_plugin/src/create_marker.cpp
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Expand Up @@ -10,7 +10,7 @@ double unifRand()
CreateMarker::CreateMarker(std::string group_name) : spinner(1), group_name_(group_name)
{
spinner.start();
group_.reset(new moveit::planning_interface::MoveGroup(group_name_));
group_.reset(new moveit::planning_interface::MoveGroupInterface(group_name_));
//ROS_INFO_STREAM("Selected planning group: "<< group_->getName());
robot_model_ = group_->getRobotModel();
}
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2 changes: 2 additions & 0 deletions map_creator/CMakeLists.txt
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Expand Up @@ -50,6 +50,8 @@ add_library(sphere_discretization src/sphere_discretization.cpp)
add_library(kinematics src/kinematics.cpp )
add_library(hdf5_dataset src/hdf5_dataset.cpp)



target_link_libraries(sphere_discretization ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARY_DIRS})
target_link_libraries(kinematics ${catkin_LIBRARIES} -llapack)
target_link_libraries(hdf5_dataset ${catkin_LIBRARIES} -lhdf5 -lhdf5_cpp)
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2 changes: 1 addition & 1 deletion map_creator/include/map_creator/mh5_ikfast.cpp
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Expand Up @@ -20,7 +20,7 @@
#define IKFAST_HAS_LIBRARY
#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h
using namespace ikfast;

using namespace std;
// check if the included ikfast version matches what this file was compiled with
#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
IKFAST_COMPILE_ASSERT(IKFAST_VERSION == 0x10000048);
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4 changes: 3 additions & 1 deletion map_creator/src/create_capability_map.cpp
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Expand Up @@ -12,9 +12,11 @@
#include <map_creator/sphere_discretization.h>
#include <map_creator/kinematics.h>
#include<map_creator/hdf5_dataset.h>
#include <boost/format.hpp>

//struct stat st;

//struct stat st;
using namespace std;
bool isFloat(std::string s)
{
std::istringstream iss(s);
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4 changes: 3 additions & 1 deletion map_creator/src/create_inverse_reachability_map.cpp
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Expand Up @@ -22,11 +22,13 @@
#include <sys/types.h>
#include <sys/stat.h>
#include <ctime>
#include <boost/format.hpp>


#include <string>
#include <time.h>
//struct stat st;

using namespace std;
int main(int argc, char **argv)
{
ros::init(argc, argv, "inverse_workspace");
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4 changes: 3 additions & 1 deletion map_creator/src/create_reachability_map.cpp
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Expand Up @@ -14,9 +14,11 @@
#include <map_creator/sphere_discretization.h>
#include <map_creator/kinematics.h>
#include<map_creator/hdf5_dataset.h>
#include <boost/format.hpp>

//struct stat st;

//struct stat st;
using namespace std;
typedef std::vector<std::pair< std::vector< double >, const std::vector< double >* > > MultiVector;
//typedef std::multimap< const std::vector< double >*, const std::vector< double >* > MultiMap;

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