From 1e4ddad6a987a0b0eb3e81809ae74135b6dd4272 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 19 Oct 2022 16:08:45 +0900 Subject: [PATCH] [jsk_fetch_startup] Use :before-func to delete description and image --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 6 +++++- .../jsk_fetch_startup/euslisp/navigation-utils.l | 2 -- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index d610d09c006..4683fffcb34 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -29,7 +29,11 @@ (success-go-to-kitchen . nil) (success-go-to-trashcan . nil) (success-auto-dock . nil)) - :hz 2.0))) + :hz 2.0 + :before-hook-func + '(lambda () + (set-alist 'description "" mydata) + (set-alist 'image "" mydata))))) (send result-state :name))) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index e7e48bfe7cb..ce4fd4abf2f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -768,8 +768,6 @@ Args: (:report-light-on '(lambda (userdata) (report-light-on) - (set-alist 'description "" userdata) - (set-alist 'image "" userdata) t)) (:room-light-on '(lambda (userdata)