nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Misc changes

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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);