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Add start position to motion planning

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Nicolas Hiillos
2022-12-21 12:15:27 +02:00
parent e980579365
commit 699aa4fba0
1 changed files with 1 additions and 0 deletions
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src/lite6_controller/src/lite6_controller.cpp
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@@ -53,6 +53,7 @@ public:
std::vector<geometry_msgs::msg::Pose> waypoints; std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(move_group.getCurrentPose().pose);
for (auto p : goal->motion.path) for (auto p : goal->motion.path)
waypoints.push_back(p.pose); waypoints.push_back(p.pose);