Updated process manager examples to add default profiles and use only…

… default profile names
tesseract-robotics · Jan 9, 2022 · b10353f · b10353f
1 parent 57df7d4
commit b10353f
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Showing 4 changed files with 5 additions and 1 deletion.
diff --git a/tesseract_process_managers/examples/freespace_manager_example.cpp b/tesseract_process_managers/examples/freespace_manager_example.cpp
@@ -68,6 +68,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Create Process Planning Request
   ProcessPlanningRequest request;

diff --git a/tesseract_process_managers/examples/memory_usage_example.cpp b/tesseract_process_managers/examples/memory_usage_example.cpp
@@ -151,6 +151,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 5);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Solve process plan
   using Clock = std::chrono::high_resolution_clock;

diff --git a/tesseract_process_managers/examples/raster_manager_example.cpp b/tesseract_process_managers/examples/raster_manager_example.cpp
@@ -69,13 +69,14 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Create Process Planning Request
   ProcessPlanningRequest request;
   request.name = process_planner_names::RASTER_G_FT_PLANNER_NAME;
 
   // Define the program
-  CompositeInstruction program = rasterExampleProgram();
+  CompositeInstruction program = rasterExampleProgram(DEFAULT_PROFILE_KEY, DEFAULT_PROFILE_KEY);
   request.instructions = Instruction(program);
 
   // Print Diagnostics

diff --git a/tesseract_process_managers/examples/taskflow_profiling_example.cpp b/tesseract_process_managers/examples/taskflow_profiling_example.cpp
@@ -99,6 +99,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   for (int idx = -10; idx < 10; idx++)
   {