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fixed catkin_make compile error (implicit conversion) #5

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fixed catkin_make compile error (implicit conversion) #5

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20 changes: 10 additions & 10 deletions pr2_robot/src/pr2_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,8 +108,8 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)

moveit::planning_interface::MoveGroupInterface::Plan right_arm_plan, left_arm_plan;

bool right_success = right_move_group.move();
bool left_success = left_move_group.move();
bool right_success = right_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
bool left_success = left_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;

ROS_INFO_NAMED("tutorial", "Visualizing plan 1 (pose goal) %s", (right_success & left_success) ? "" : "FAILED");

Expand Down Expand Up @@ -251,7 +251,7 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)

// set target pose
right_move_group.setPoseTarget(pose_list[i]);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -270,7 +270,7 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)
right_move_group.setStartStateToCurrentState();
pose_list[i].position.z = pose_list[i].position.z-0.07;
right_move_group.setPoseTarget(pose_list[i]);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");
// We can also visualize the plan as a line with markers in Rviz.
Expand All @@ -295,7 +295,7 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)
right_move_group.setStartStateToCurrentState();
pose_list[i].position.z = pose_list[i].position.z+0.12;
right_move_group.setPoseTarget(pose_list[i]);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");
// visualize the plan in Rviz.
Expand All @@ -311,7 +311,7 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)
//drop the ball
right_move_group.setStartStateToCurrentState();
right_move_group.setPoseTarget(drop_list[i]);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");

Expand Down Expand Up @@ -344,8 +344,8 @@ PR2Motion::PR2Motion(ros::NodeHandle nh)

right_move_group.setNamedTarget("RIGHT_ARM_INITIAL_POSE");
left_move_group.setNamedTarget("LEFT_ARM_INITIAL_POSE");
right_success = right_move_group.move();
left_success = left_move_group.move();
right_success = right_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
left_success = left_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
}


Expand Down Expand Up @@ -405,7 +405,7 @@ bool PR2Motion::OperateRightGripper(const bool &close_gripper)
right_gripper_group.setJointValueTarget(gripper_joint_positions);
ros::Duration(1.5).sleep();

bool success = right_gripper_group.move();
bool success = right_gripper_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
return success;
}

Expand Down Expand Up @@ -437,7 +437,7 @@ bool PR2Motion::OperateLeftGripper(const bool &close_gripper)
left_gripper_group.setJointValueTarget(gripper_joint_positions);
ros::Duration(1.5).sleep();

bool success = left_gripper_group.move();
bool success = left_gripper_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
return success;
}

Expand Down
28 changes: 14 additions & 14 deletions pr2_robot/src/pr2_pick_place_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,8 +90,8 @@ PR2PickPlace::PR2PickPlace(ros::NodeHandle nh)
right_move_group.setNamedTarget("RIGHT_ARM_INITIAL_POSE");
left_move_group.setNamedTarget("LEFT_ARM_INITIAL_POSE");

right_success = right_move_group.move();
left_success = left_move_group.move();
right_success = right_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
left_success = left_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;

}

Expand Down Expand Up @@ -181,7 +181,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
{
right_move_group.setPoseTarget(grasp_pose);

right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -199,7 +199,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
right_move_group.setStartStateToCurrentState();
grasp_pose.position.z = grasp_pose.position.z-0.07;
right_move_group.setPoseTarget(grasp_pose);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -225,7 +225,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
right_move_group.setStartStateToCurrentState();
grasp_pose.position.z = grasp_pose.position.z+0.12;
right_move_group.setPoseTarget(grasp_pose);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");
// visualize the plan in Rviz.
Expand All @@ -246,7 +246,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
//visual_tools_ptr->prompt("Click Next");

right_move_group.setPoseTarget(place_pose);
right_success = right_move_group.plan(right_arm_plan);
right_success = right_move_group.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
right_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -264,13 +264,13 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,

//Raise arms
right_move_group.setNamedTarget("RIGHT_ARM_INITIAL_POSE");
right_success = right_move_group.move();
right_success = right_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
}
else
{
left_move_group.setPoseTarget(grasp_pose);

left_success = left_move_group.plan(left_arm_plan);
left_success = left_move_group.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
left_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -289,7 +289,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
left_move_group.setStartStateToCurrentState();
grasp_pose.position.z = grasp_pose.position.z-0.07;
left_move_group.setPoseTarget(grasp_pose);
left_success = left_move_group.plan(left_arm_plan);
left_success = left_move_group.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
left_success ? "SUCCEEDED" : "FAILED");
// We can also visualize the plan as a line with markers in Rviz.
Expand All @@ -314,7 +314,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
left_move_group.setStartStateToCurrentState();
grasp_pose.position.z = grasp_pose.position.z+0.12;
left_move_group.setPoseTarget(grasp_pose);
left_success = left_move_group.plan(left_arm_plan);
left_success = left_move_group.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
left_success ? "SUCCEEDED" : "FAILED");
// We can also visualize the plan as a line with markers in Rviz.
Expand All @@ -335,7 +335,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,
//visual_tools_ptr->prompt("Click Next");

left_move_group.setPoseTarget(place_pose);
left_success = left_move_group.plan(left_arm_plan);
left_success = left_move_group.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
ROS_INFO("Visualizing plan to target: %s",
left_success ? "SUCCEEDED" : "FAILED");

Expand All @@ -355,7 +355,7 @@ bool PR2PickPlace::Routine(pr2_robot::PickPlace::Request &req,

//Raise arms
left_move_group.setNamedTarget("LEFT_ARM_INITIAL_POSE");
left_success = left_move_group.move();
left_success = left_move_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
}
res.success = true;
}
Expand Down Expand Up @@ -433,7 +433,7 @@ bool PR2PickPlace::OperateRightGripper(const bool &close_gripper)
right_gripper_group.setJointValueTarget(gripper_joint_positions);
ros::Duration(1.5).sleep();

bool success = right_gripper_group.move();
bool success = right_gripper_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
return success;
}

Expand Down Expand Up @@ -465,7 +465,7 @@ bool PR2PickPlace::OperateLeftGripper(const bool &close_gripper)
left_gripper_group.setJointValueTarget(gripper_joint_positions);
ros::Duration(1.5).sleep();

bool success = left_gripper_group.move();
bool success = left_gripper_group.move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;
return success;
}

Expand Down