load fridge-demo file only when suceeded

jsk-ros-pkg · Oct 31, 2022 · 67f3e2c · 67f3e2c
1 parent 453942c
commit 67f3e2c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/detect_cans_in_fridge_201202/apps/pick_object/pick_object.l b/detect_cans_in_fridge_201202/apps/pick_object/pick_object.l
@@ -2,17 +2,16 @@
 ;; pick_object.l
 
 (require :app-utils "package://jsk_demo_common/euslisp/app-utils.l")
-
-(require :fridge-demo-smach-main
-         "package://detect_cans_in_fridge_201202/euslisp/fridge-demo-smach-main.l")
-
+(require :speak "package://pr2eus/speak.l")
 
 (defun main ()
   (let ((object (string-downcase (get-arg :object))))
     ;; set default object: georgia
     (if (null object) (setq object "georgia"))
     (cond
       ((find object (list "wonda" "georgia" "boss" "iemon") :test #'string=)
+       (require :fridge-demo-smach-main
+                "package://detect_cans_in_fridge_201202/euslisp/fridge-demo-smach-main.l")
        (send *ri* :clear-costmap)
        (fridge-demo-smach-main :can-type object
                                :use-arm :larm
@@ -21,4 +20,5 @@
        nil))
 ))
 
+(ros::roseus "pick_object")
 (run-exit (main))