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2013-05-08 05:50:22 -0500 | asked a question | Plan self motion in Moveit I am trying to plan two subsequent motions with Moveit. The first motion is a relatively unconstrained motion to an end effector pose. I would like the second motion to move the first roll joint to a specified position while maintaining the end effector pose. (self motion.) I can plan the first motion just fine. I am trying to acheive the self motion by adding a goal constraint to the original motion plan request, and adding a path constraint that fixes the end effector pose. Relevant code:
The first motion goes off without a hitch, and If I do the second motion with the joint specified, but no path constraint, it plans correctly as well. However, when I add the path constraint, I get the following errors: I would guess that the Poses vector error is what is killing me, but I'm not sure what's triggering this error. Can anyone provide any insight? |
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2012-06-20 08:37:26 -0500 | asked a question | Load binary data into a PostgreSQL database through the database_interface Hello, The database_interface package appears to provide serialization for storing data in the database as a byte array. The advanced concepts tutorial shows an example of how to read from the binary data, but not how to write to the database. Let's say I want to store a sensor_msgs::PointCloud2 or a pcl::Pointcloud to the database. How would I read/write it? I currently have a database set up in postgres that's ready to accept the binary info as bytea data. In the database interface classes, I have:
and in the constructor I have:
I think this is set up properly, but I don't know how to get the data in and out of the database. Can anyone point me in the right direction? |