public SetPlannerParamsRequest(string planner_config, string group, PlannerParams @params, bool replace)
{
this.planner_config = planner_config;
this.group = group;
this.@params = @params;
this.replace = replace;
}
private void SetPlannerParameters()
{
PlannerParams _params = new PlannerParams
{
keys = new string[] { "type", "max_nearest_neighbors" },
values = new string[] { "geometric::PRM", "5" }
};
var setPlannerParamsRequest = new SetPlannerParamsRequest
{
planner_config = plannerID,
group = jointGroup.name,
_params = _params,
replace = false,
};
rosSocket.CallService <SetPlannerParamsRequest, SetPlannerParamsResponse>("/set_planner_params", ServiceCallHandler, setPlannerParamsRequest);
OnServiceReceived.WaitOne();
OnServiceReceived.Reset();
}
public GetPlannerParamsResponse(PlannerParams @params)
{
this.@params = @params;
}
public GetPlannerParamsResponse()
{
this.@params = new PlannerParams();
}
