From 6ce67d1cb4f9792f064253481d7d0455a882f61c Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 29 Aug 2024 16:32:07 +0200 Subject: [PATCH] Fix deprecated computeCartesianPath() --- doc/move_group_interface/src/move_group_interface_tutorial.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/move_group_interface/src/move_group_interface_tutorial.cpp b/doc/move_group_interface/src/move_group_interface_tutorial.cpp index 56cba37da..3c7033c8e 100644 --- a/doc/move_group_interface/src/move_group_interface_tutorial.cpp +++ b/doc/move_group_interface/src/move_group_interface_tutorial.cpp @@ -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