Path Constraint for Perception-Driven Manipulation Demo

[wmy101]

Hi,

I noticed that in the pick_and_place_utilities.cpp in Perception-Driven Manipulation Demo there is a create_path_orientation_constraints function that is not being used in the demo. How can I make use of this?

I have tried placing it in moveit_msgs::GetMotionPlan motion_plan; moveit_msgs::MotionPlanRequest &req = motion_plan.request.motion_plan_request; moveit_msgs::Constraints path_constraints=create_path_orientation_constraints(p.pose,0.03f,0.03f,0.03f,WRIST_LINK_NAME); req.path_constraints = path_constraints;

It finds a solution but it does not seem to have any orientation constraints.

Thanks,