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Fix deprecated computeCartesianPath()
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@rhaschke
rhaschke committed Aug 29, 2024
1 parent b694b64 commit 6ce67d1
Showing 1 changed file with 1 addition and 2 deletions.
3 changes: 1 addition & 2 deletions doc/move_group_interface/src/move_group_interface_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -301,9 +301,8 @@ int main(int argc, char** argv)
// Warning - disabling the jump threshold while operating real hardware can cause
// large unpredictable motions of redundant joints and could be a safety issue
moveit_msgs::RobotTrajectory trajectory;
const double jump_threshold = 0.0;
const double eef_step = 0.01;
double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, trajectory);
ROS_INFO_NAMED("tutorial", "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);

// Visualize the plan in RViz
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6 comments on commit 6ce67d1

@AmirpooyaSh
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Hello @rhaschke

I believe that this commit seems not compatible with the MoveIt tutorials given in the documentation:
https://moveit.github.io/moveit_tutorials/doc/getting_started/getting_started.html

I assume that the header file updates have not been committed yet.
Bringing it back to what it was solved my issue in building the moveit tutorial package.

@rhaschke
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Did you build against latest source of MoveIt?

@AmirpooyaSh
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@AmirpooyaSh AmirpooyaSh commented on 6ce67d1 Sep 14, 2024 •
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I just cloned the master branch (for tutorials) according to the given tutorials:

git clone https://github.com/moveit/moveit_tutorials.git -b master

for the MoveIt library, no. I just installed it through the terminal command (it might not be the latest version).

@rhaschke
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@rhaschke rhaschke commented on 6ce67d1 Sep 16, 2024 •
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The tutorials suggest downloading and building MoveIt from source as well. If you do, you will need the changes here.
A new release of MoveIt has been made. It will become publicly available with the next sync.

@addy1997
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@rhaschke, I am getting error related to the computeCartesianPath function after running catkin build on my moveit workspace

Error:

Image

I have followed all the build instructions exactly. Could you suggest something?

@rhaschke
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@addy1997: you don't build MoveIt from source, but use the installation in /opt/ros/noetic.

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