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MoveIt: how to use class MoveGroup::MoveGroupImpl?

asked 2018-10-17 07:50:04 -0500

enrico gravatar image

Hi everyone,

I would like to use the function void setReplanningDelay(double delay) belonging to class MoveGroup::MoveGroupImpl, because I need to decrease the 2 seconds default value of replan_delay_. How could I implement that function? An example of code would be really helpful.

I think another option is to manually decrease that value, but this would require installing Moveit in the workspace I guess, but I would leave this option as the last resort.

ROS version: Kinetic Ubuntu: 16.04

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answered 2018-10-25 04:39:46 -0500

pcoenen gravatar image

I'm assuming you're talking about MoveGroupInterfaceImpl, since you're on Kinetic and MoveGroup was changed to MoveGroupInterface.

MoveGroupInterface uses the PImpl technique ( https://en.cppreference.com/w/cpp/lan... ). In order to access void setReplanningDelay(double delay) you will need to to build your own MoveIt and add a function to the MoveGroupInterface which in turn calls Impl's function.

void moveit::planning_interface::MoveGroupInterface::setReplanningDelay(double delay)
{
  impl_->setReplanningDelay(delay);
}

This is taken from MoveIt's GitHub (there's a bunch of similar functions at the very end).

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Asked: 2018-10-17 07:50:04 -0500

Seen: 53 times

Last updated: Oct 25 '18