From 1e1b7384caeeffae6e4a8bdf7d1aafe2f48393f9 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Wed, 21 Dec 2022 12:33:51 +0200 Subject: [PATCH] Adjust moveit params --- src/lite6_controller/src/lite6_controller.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/lite6_controller/src/lite6_controller.cpp b/src/lite6_controller/src/lite6_controller.cpp index 5d87ed7..e0bb497 100644 --- a/src/lite6_controller/src/lite6_controller.cpp +++ b/src/lite6_controller/src/lite6_controller.cpp @@ -30,6 +30,7 @@ public: // Subscribe to target pose //target_pose_sub_ = this->create_subscription("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1)); + move_group.setPlanningTime(30.0); RCLCPP_INFO(this->get_logger(), "Initialization successful."); } @@ -61,7 +62,7 @@ public: // dangerous with real robot // https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html - const double jump_threshold = 0.00001; + const double jump_threshold = 0.0; const double eef_step = 0.000001; double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);