From aae85d38b3ba65cfb73c5e529e947d2f1cfe2d30 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Sun, 15 Oct 2023 16:18:33 +0900 Subject: [PATCH] [jsk_fetch_startup][noetic] Fix client eus code for noetic --- jsk_fetch_robot/fetcheus/fetch-interface.l | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 5dd33840df..d3699d2525 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -547,7 +547,9 @@ Example: (send self :gripper :position) => 0.00" :super moveit-environment) (defmethod fetch-moveit-environment (:init (&key ((:robot rb) *fetch*) &rest args) - (send-super* :init :robot rb :frame-id "base_link" args)) + (send-super* :init :robot rb :frame-id "base_link" :scene-service "/get_planning_scene_noetic" :planning-service "/plan_kinematic_path_noetic" :state-validity-service "/check_state_validity_noetic" :compute-ik-service "/compute_ik_noetic" args) + ;; FIXME *_noetic should be only when ROS_DISTRO is noetic + ;; TODO /apply_planning_scene (:default-configuration () (list (list :rarm (cons :group-name "arm")