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Set new parameters for xArm

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This commit is contained in:
Nicolas Hiillos
2023-04-03 15:02:13 +03:00
parent d58b968536
commit 2372404732
5 changed files with 31 additions and 22 deletions
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17
src/lite6_controller/src/lite6_controller.cpp
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@@ -198,11 +198,11 @@ public:
//mpr.planner_id = "LIN";
mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 0.3;
mpr.max_acceleration_scaling_factor = 0.3;
mpr.max_velocity_scaling_factor = 1.0;
mpr.max_acceleration_scaling_factor = 1.0;
//mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 20;
mpr.max_cartesian_speed = 3; // m/s
//mpr.max_cartesian_speed = 2; // m/s
//mpr.goal_constraints.position_constraints.header.frame_id = "world";
// A tolerance of 0.01 m is specified in position
@@ -368,8 +368,17 @@ public:
void executeTrajectoryFromQueue()
{
if (busy || trajectory_queue.empty())
if (trajectory_queue.empty())
{
if (busy)
return;
busy = true;
//RCLCPP_INFO(this->get_logger(), "Getting robot state");
//move_group_state = move_group.getCurrentState(10);
busy = false;
return;
}
busy = true;
RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue");
move_group.execute(trajectory_queue.front());