Fix motion planner freespace example opw_kinematics include build err…

…or (#131) * Fix example opw_kinematics include build error Signed-off-by: Chen Bainian <[email protected]> * Update working_frame and tcp_frame for all motion planner examples Signed-off-by: Chen Bainian <[email protected]>
tesseract-robotics · Nov 11, 2021 · a1d8cb6 · a1d8cb6
1 parent ebb7219
commit a1d8cb6
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/tesseract_motion_planners/examples/chain_example.cpp b/tesseract_motion_planners/examples/chain_example.cpp
@@ -102,6 +102,8 @@ int main(int /*argc*/, char** /*argv*/)
     }
 
     ManipulatorInfo manip;
+    manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";
 

diff --git a/tesseract_motion_planners/examples/freespace_example.cpp b/tesseract_motion_planners/examples/freespace_example.cpp
@@ -26,12 +26,10 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
-#include <opw_kinematics/opw_parameters.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/types.h>
 
-#include <tesseract_kinematics/opw/opw_inv_kin.h>
 #include <tesseract_kinematics/core/utils.h>
 
 #include <tesseract_environment/environment.h>
@@ -102,6 +100,7 @@ int main(int /*argc*/, char** /*argv*/)
 
     ManipulatorInfo manip;
     manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";
 

diff --git a/tesseract_motion_planners/examples/raster_example.cpp b/tesseract_motion_planners/examples/raster_example.cpp
@@ -103,6 +103,7 @@ int main(int /*argc*/, char** /*argv*/)
 
     ManipulatorInfo manip;
     manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";