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This commit is contained in:
Nicolas Hiillos
2023-01-10 15:49:13 +02:00
parent 3fe0ab12c3
commit 0e2efc3980
3 changed files with 14 additions and 5 deletions
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6
src/drawing_controller/drawing_controller/drawing_controller.py
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@@ -58,7 +58,7 @@ class DrawingController(Node):
def __init__(self, svgpath):
super().__init__('drawing_controller')
#self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
timer_period = 7.0 # seconds
timer_period = 20.0 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
@@ -125,10 +125,10 @@ class DrawingController(Node):
p1 = self.map_point(next_line[0][0],next_line[0][1])
p2 = self.map_point(next_line[1][0],next_line[1][1])
self.get_logger().info('Drawing line with p1:{} p2:{}'.format(p1,p2))
self.append_point(motion, p1, 0.5)
self.append_point(motion, p1, 0.2)
self.append_point(motion, p1, 0.1)
self.append_point(motion, p2, 0.1)
self.append_point(motion, p2, 0.5)
self.append_point(motion, p2, 0.2)
self.i = (self.i + 1) % len(self.lines)
self.get_logger().info('Executing motion:{}'.format(motion.path))

4
src/lite6_controller/src/lite6_controller.cpp
View File

@@ -54,7 +54,7 @@ public:
std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(move_group.getCurrentPose().pose);
//waypoints.push_back(move_group.getCurrentPose().pose);
for (auto p : goal->motion.path)
waypoints.push_back(p.pose);
@@ -64,7 +64,7 @@ public:
// https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html
const double jump_threshold = 0.0;
const double eef_step = 0.000001;
const double eef_step = 0.001;
double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);