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Reordered code execution #516

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5518109
Reordered code execution
AbduEhab Sep 19, 2022
1914046
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Sep 19, 2022
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10 changes: 6 additions & 4 deletions doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,10 +56,6 @@ int main(int argc, char** argv)
std::shared_ptr<rclcpp::Node> motion_planning_api_tutorial_node =
rclcpp::Node::make_shared("motion_planning_api_tutorial", node_options);

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(motion_planning_api_tutorial_node);
std::thread([&executor]() { executor.spin(); }).detach();

// BEGIN_TUTORIAL
// Start
// ^^^^^
Expand All @@ -80,6 +76,12 @@ int main(int argc, char** argv)
moveit::core::RobotStatePtr robot_state(new moveit::core::RobotState(robot_model));
const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);

// We spin up a SingleThreadedExecutor for the current state monitor to get information
// about the robot's state.
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(motion_planning_api_tutorial_node);
std::thread([&executor]() { executor.spin(); }).detach();

// Using the
// :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`,
// we can construct a
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10 changes: 6 additions & 4 deletions doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
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Expand Up @@ -56,10 +56,6 @@ int main(int argc, char** argv)
node_options.automatically_declare_parameters_from_overrides(true);
auto node = rclcpp::Node::make_shared("motion_planning_pipeline_tutorial", node_options);

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
std::thread([&executor]() { executor.spin(); }).detach();

// BEGIN_TUTORIAL
// Start
// ^^^^^
Expand Down Expand Up @@ -105,6 +101,12 @@ int main(int argc, char** argv)
group is useful for dealing with one set of joints at a time such as a left arm or a end effector */
const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup("panda_arm");

// We spin up a SingleThreadedExecutor for the current state monitor to get information
// about the robot's state.
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
std::thread([&executor]() { executor.spin(); }).detach();

// We can now setup the PlanningPipeline object, which will use the ROS parameter server
// to determine the set of request adapters and the planning plugin to use
planning_pipeline::PlanningPipelinePtr planning_pipeline(
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12 changes: 6 additions & 6 deletions doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp
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Expand Up @@ -57,12 +57,6 @@ int main(int argc, char** argv)
node_options.automatically_declare_parameters_from_overrides(true);
auto move_group_node = rclcpp::Node::make_shared("move_group_interface_tutorial", node_options);

// We spin up a SingleThreadedExecutor for the current state monitor to get information
// about the robot's state.
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(move_group_node);
std::thread([&executor]() { executor.spin(); }).detach();

// BEGIN_TUTORIAL
//
// Setup
Expand All @@ -78,6 +72,12 @@ int main(int argc, char** argv)
// class can be easily set up using just the name of the planning group you would like to control and plan for.
moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);

// We spin up a SingleThreadedExecutor for the current state monitor to get information
// about the robot's state.
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(move_group_node);
std::thread([&executor]() { executor.spin(); }).detach();

// We will use the
// :moveit_codedir:`PlanningSceneInterface<moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h>`
// class to add and remove collision objects in our "virtual world" scene
Expand Down