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Adjust lite6 params

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This commit is contained in:
Nicolas Hiillos
2023-04-03 17:59:29 +03:00
parent 28bf1413c2
commit 5a00d7b258
2 changed files with 7 additions and 7 deletions
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3
src/drawing_controller/drawing_controller/svg_processor.py
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@@ -197,8 +197,7 @@ class SVGProcessor():
Simplify line with https://pypi.org/project/simplification/ Simplify line with https://pypi.org/project/simplification/
""" """
# For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001 # For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001
#epsilon = 0.00005 epsilon = 0.00005
epsilon = 0.0008
tmp = [] tmp = []
out = [] out = []

11
src/lite6_controller/src/lite6_controller.cpp
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@@ -80,8 +80,9 @@ public:
float xlim_upper = 0.305; float xlim_upper = 0.305;
float ylim_lower = -0.1475; float ylim_lower = -0.1475;
float ylim_upper = 0.1475; float ylim_upper = 0.1475;
float zlim_lower = 0.1945; //float zlim_lower = 0.1945;
float zlim_upper = 0.200; float zlim_lower = 0.207493;
float zlim_upper = zlim_lower + 0.01;
/** /**
@@ -180,8 +181,8 @@ public:
{ {
moveit_msgs::msg::MotionSequenceRequest msr = moveit_msgs::msg::MotionSequenceRequest(); moveit_msgs::msg::MotionSequenceRequest msr = moveit_msgs::msg::MotionSequenceRequest();
//waypoints.push_back(move_group.getCurrentPose().pose); //waypoints.push_back(move_group.getCurrentPose().pose);
std::string ee_link = move_group.getLinkNames().back(); //std::string ee_link = move_group.getLinkNames().back();
//std::string ee_link = "pen_link"; std::string ee_link = "pen_link";
RCLCPP_INFO(this->get_logger(), "Got ee_link: %s", ee_link.c_str()); RCLCPP_INFO(this->get_logger(), "Got ee_link: %s", ee_link.c_str());
geometry_msgs::msg::Point previous_point; geometry_msgs::msg::Point previous_point;
//previous_point.point.x = -1.0; //previous_point.point.x = -1.0;
@@ -199,7 +200,7 @@ public:
mpr.group_name = move_group.getName(); mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0; //mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 1.0; mpr.max_velocity_scaling_factor = 1.0;
mpr.max_acceleration_scaling_factor = 1.0; mpr.max_acceleration_scaling_factor = 0.8;
//mpr.max_acceleration_scaling_factor = 0.1; //mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 20; mpr.allowed_planning_time = 20;
//mpr.max_cartesian_speed = 2; // m/s //mpr.max_cartesian_speed = 2; // m/s