From a1d8cb6a8e2fbb3fbf0b7f1637bef385dbc542e2 Mon Sep 17 00:00:00 2001
From: Chen Bainian <brian97cbn@gmail.com>
Date: Thu, 11 Nov 2021 12:25:40 +0800
Subject: [PATCH] Fix motion planner freespace example opw_kinematics include
 build error (#131)

* Fix example opw_kinematics include build error

Signed-off-by: Chen Bainian <chenbn@artc.a-star.edu.sg>

* Update working_frame and tcp_frame for all motion planner examples

Signed-off-by: Chen Bainian <chenbn@artc.a-star.edu.sg>
---
 tesseract_motion_planners/examples/chain_example.cpp     | 2 ++
 tesseract_motion_planners/examples/freespace_example.cpp | 3 +--
 tesseract_motion_planners/examples/raster_example.cpp    | 1 +
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/tesseract_motion_planners/examples/chain_example.cpp b/tesseract_motion_planners/examples/chain_example.cpp
index fedd886192c..f99bcda8b91 100644
--- a/tesseract_motion_planners/examples/chain_example.cpp
+++ b/tesseract_motion_planners/examples/chain_example.cpp
@@ -102,6 +102,8 @@ int main(int /*argc*/, char** /*argv*/)
     }
 
     ManipulatorInfo manip;
+    manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";
 
diff --git a/tesseract_motion_planners/examples/freespace_example.cpp b/tesseract_motion_planners/examples/freespace_example.cpp
index 0279d8aa7a4..0c6f49847fd 100644
--- a/tesseract_motion_planners/examples/freespace_example.cpp
+++ b/tesseract_motion_planners/examples/freespace_example.cpp
@@ -26,12 +26,10 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
-#include <opw_kinematics/opw_parameters.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/types.h>
 
-#include <tesseract_kinematics/opw/opw_inv_kin.h>
 #include <tesseract_kinematics/core/utils.h>
 
 #include <tesseract_environment/environment.h>
@@ -102,6 +100,7 @@ int main(int /*argc*/, char** /*argv*/)
 
     ManipulatorInfo manip;
     manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";
 
diff --git a/tesseract_motion_planners/examples/raster_example.cpp b/tesseract_motion_planners/examples/raster_example.cpp
index f2439c1dfb5..42a6b79ca0f 100644
--- a/tesseract_motion_planners/examples/raster_example.cpp
+++ b/tesseract_motion_planners/examples/raster_example.cpp
@@ -103,6 +103,7 @@ int main(int /*argc*/, char** /*argv*/)
 
     ManipulatorInfo manip;
     manip.tcp_frame = "tool0";
+    manip.working_frame = "base_link";
     manip.manipulator = "manipulator";
     manip.manipulator_ik_solver = "OPWInvKin";