ExampleClient: now working properly

source/Navigation/components/ExampleClient/ExampleClient.cpp

@@ -21,6 +21,8 @@
  */
 
 
+#include "Navigation/libraries/global_planning/AStar.h"
+#include "Navigation/libraries/trajectory_control/TrajectoryFollowingController.h"
 #include <Navigation/components/ExampleClient/ExampleClient.h>
 
 
@@ -90,7 +92,10 @@ exns::ExampleClient::exampleNavigation()
 
     // Create an example configuration valid for the following move* calls.
     navigator.configure(NavigationStackConfig()
-                        .configureGeneral({}/*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/));
+                        .configureGeneral({}/*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/)
+                        .configureGlobalPlanner(glob_plan::AStarParams())
+                        .configureTrajectoryController(traj_ctrl::TrajectoryFollowingControllerParams())
+                       );
 
     // Example of registering a lambda as callback.
     navigator.onGoalReached([&]()
@@ -105,11 +110,14 @@ exns::ExampleClient::exampleNavigation()
 
     ARMARX_INFO << "Moving to goal pose";
     // Start moving to goal position using above config.
-    const Pose goal = Pose::Identity();
+    Pose goal = Pose::Identity();
+    goal.translation() << 2000, 1000, 0;
+
     navigator.moveTo(goal, NavigationFrame::Absolute);
 
     // Wait until goal is reached
     navigator.waitForGoalReached();
+    ARMARX_INFO << "Goal reached.";
 
     std::this_thread::sleep_for(2s);