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Adjust moveit params

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This commit is contained in:
Nicolas Hiillos
2022-12-21 12:33:51 +02:00
parent c76e82ce65
commit 1e1b7384ca
1 changed files with 2 additions and 1 deletions
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3
src/lite6_controller/src/lite6_controller.cpp
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@@ -30,6 +30,7 @@ public:
// Subscribe to target pose
//target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/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);