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();
}
/// <summary> Setter constructor. </summary>
public SetPlannerParams(SetPlannerParamsRequest request)
{
Request = request;
Response = SetPlannerParamsResponse.Singleton;
}
/// <summary> Empty constructor. </summary>
public SetPlannerParams()
{
Request = new SetPlannerParamsRequest();
Response = SetPlannerParamsResponse.Singleton;
}
