Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[pr2eus_moveit] replace code with functions to create shape_msgs::SolidPrimitive #432

Open
wants to merge 5 commits into
base: master
Choose a base branch
from
Open

[pr2eus_moveit] replace code with functions to create shape_msgs::SolidPrimitive #432

Changes from 1 commit
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
86adf79
[pr2eus_moveit] replace code with functions to create shape_msgs::Sol…
708yamaguchi Apr 12, 2020
e29b654
Merge branch 'master' into solid-primitive-func
k-okada Apr 14, 2020
bcd29e1
Merge branch 'master' into solid-primitive-func
k-okada Jul 21, 2021
506c7f0
Merge branch 'master' into solid-primitive-func
k-okada Oct 25, 2022
6dd98f1
Merge branch 'master' into solid-primitive-func
knorth55 Dec 6, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 3 additions & 15 deletions pr2eus_moveit/euslisp/collision-object-publisher.l
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,11 +62,7 @@
(send colobj :primitives
(append geom
(list
(instance shape_msgs::SolidPrimitive
:init :type shape_msgs::SolidPrimitive::*CYLINDER*
:dimensions (float-vector
(/ (height-of-cylinder obj) 1000.0)
(/ (radius-of-cylinder obj) 1000.0))))))
(cylinder->shape-msg obj))))
(send colobj :primitive_poses
(append pose
(list
Expand All @@ -77,12 +73,7 @@
(send colobj :primitives
(append geom
(list
(instance shape_msgs::SolidPrimitive
:init :type shape_msgs::SolidPrimitive::*BOX*
:dimensions (float-vector
(/ (elt (send obj :body-type) 1) 1000.0)
(/ (elt (send obj :body-type) 2) 1000.0)
(/ (elt (send obj :body-type) 3) 1000.0))))))
(cube->shape-msg obj))))
(send colobj :primitive_poses
(append pose
(list
Expand All @@ -93,10 +84,7 @@
(send colobj :primitives
(append geom
(list
(instance shape_msgs::SolidPrimitive
:init :type shape_msgs::SolidPrimitive::*SPHERE*
:dimensions (float-vector
(/ (radius-of-sphere obj) 1000.0))))))
(sphere->shape-msg obj))))
(send colobj :primitive_poses
(append pose
(list
Expand Down