Revert mvit-env and mvit-rb

start-jsk · Jun 20, 2017 · cdfac12 · cdfac12
1 parent 190d1f1
commit cdfac12
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l b/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
@@ -4,6 +4,7 @@
 
 (require "package://baxtereus/baxter-interface.l")
 (require "package://jsk_2015_05_baxter_apc/euslisp/jsk_2015_05_baxter_apc/util.l")
+(require "package://jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter-interface.l")
 (require "package://jsk_arc2017_baxter/euslisp/lib/baxter.l")
 (require "package://jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/util.l")
 
@@ -23,8 +24,8 @@
   (:init
     (&rest args &key
            ((:moveit-environment mvit-env)
-            (instance jsk_arc2017_baxter::baxter-moveit-environment))
-           ((:moveit-robot mvit-rb) (instance jsk_arc2017_baxter::baxter-robot :init))
+            (instance jsk_2016_01_baxter_apc::baxter-moveit-environment))
+           ((:moveit-robot mvit-rb) (instance jsk_2016_01_baxter_apc::baxter-robot :init))
            &allow-other-keys)
     ;; initialize controllers
     (send-super* :init :joint-states-queue-size 3

diff --git a/jsk_arc2017_baxter/euslisp/lib/pick-interface.l b/jsk_arc2017_baxter/euslisp/lib/pick-interface.l
@@ -194,8 +194,8 @@
 (defun jsk_arc2017_baxter::pick-init (&key (ctype :default-controller) (moveit nil))
   (let (mvit-env mvit-rb)
     (when moveit
-      (setq mvit-env (instance jsk_arc2017_baxter::baxter-moveit-environment))
-      (setq mvit-rb (instance jsk_arc2017_baxter::baxter-robot :init)))
+      (setq mvit-env (instance jsk_2016_01_baxter_apc::baxter-moveit-environment))
+      (setq mvit-rb (instance jsk_2016_01_baxter_apc::baxter-robot :init)))
     (unless (boundp '*ri*)
       (setq *ri* (instance jsk_arc2017_baxter::baxter-interface :init :type ctype
                            :moveit-environment mvit-env

diff --git a/jsk_arc2017_baxter/euslisp/lib/stow-interface.l b/jsk_arc2017_baxter/euslisp/lib/stow-interface.l
@@ -168,8 +168,8 @@
 (defun jsk_arc2017_baxter::stow-init (&key (ctype :default-controller) (moveit nil))
   (let (mvit-env mvit-rb)
     (when moveit
-      (setq mvit-env (instance jsk_arc2017_baxter::baxter-moveit-environment))
-      (setq mvit-rb (instance jsk_arc2017_baxter::baxter-robot :init)))
+      (setq mvit-env (instance jsk_2016_01_baxter_apc::baxter-moveit-environment))
+      (setq mvit-rb (instance jsk_2016_01_baxter_apc::baxter-robot :init)))
     (unless (boundp '*ri*)
       (setq *ri* (instance jsk_arc2017_baxter::baxter-interface :init :type ctype
                            :moveit-environment mvit-env