iamrajee

--- stderr: moveit_task_constructor                               
In file included from /home/rajendra/ros2eloquent_moveit_ws/install/moveit_ros_planning_interface/include/moveit/move_group_interface/move_group_interface.h:42:0,
                 from /home/rajendra/ros2eloquent_moveit_ws/src/moveit_task_constructor/src/subtasks/cartesian_position_motion.cpp:9:
/home/rajendra/ros2eloquent_moveit_ws/install/moveit_core/include/moveit/macros/deprecation.h:40:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
/home/rajendra/ros2eloquent_moveit_ws/src/moveit_task_constructor/src/subtasks/cartesian_position_motion.cpp: In member function ‘bool moveit::task_constructor::subtasks::CartesianPositionMotion::_computeFromBeginning()’:
/home/rajendra/ros2eloquent_moveit_ws/src/moveit_task_constructor/src/subtasks/cartesian_position_motion.cpp:127:12: war

iamrajee

--- stderr: moveit_ros_move_group                                                                                                                                                         
CMake Error at /opt/ros/eloquent/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:52 (message):
  ament_target_dependencies() the passed package name
  'moveit_move_group_capabilities_base' was not found before
Call Stack (most recent call first):
  CMakeLists.txt:90 (ament_target_dependencies)

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> hardware_interface
Starting >>> joint_state_publisher
Starting >>> controller_parameter_server
Starting >>> ompl
Starting >>> testpkg2
Starting >>> testpkg_cmake

iamrajee

#include <rclcpp/rclcpp.hpp>

#include <chrono>
#include <cstdlib>
#include <memory>

#include <moveit_task_constructor/task.h>
#include <moveit_task_constructor/subtask.h>

#include <moveit_task_constructor/subtasks/current_state.h>

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> joint_state_publisher
Starting >>> ompl
Starting >>> testpkg
Starting >>> testpkg_cmake
Starting >>> testpkg_python
Finished <<< testpkg [1.60s]

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> joint_state_publisher
Starting >>> ompl
Starting >>> testpkg
Starting >>> testpkg_cmake
Starting >>> testpkg_python
Finished <<< testpkg [1.60s]

iamrajee

controller_list:
  - name: fake_panda1_arm_controller
    joints:
      - panda1_joint1
      - panda1_joint2
      - panda1_joint3
      - panda1_joint4
      - panda1_joint5
      - panda1_joint6
      - panda1_joint7

iamrajee

controller_list:
  - name: fake_panda1_arm_controller
    joints:
      - panda1_joint1
      - panda1_joint2
      - panda1_joint3
      - panda1_joint4
      - panda1_joint5
      - panda1_joint6
      - panda1_joint7

iamrajee

    // ====================== Current State ====================== //
	{
		auto _current_state = std::make_unique<stages::CurrentState>("current state");
		t.add(std::move(_current_state));
	}
	// ====================== test container ====================== //
	{ 
		// auto test_container = std::make_unique<SerialContainer>("test container"); //calculate and run both serially
		// auto test_container = std::make_unique<Alternatives>("test container"); //calculate both and possible run both seperatly 
		// auto test_container = std::make_unique<Fallbacks>("test container"); //calculate and run either of

iamrajee

	// ====================== test container ====================== //
	{ 
		auto test_container = std::make_unique<Merger>("test container");

		// ====================== Move to Home ====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
			stage->setGroup(arm_group_name_);
			stage->setGoal(arm_home_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);