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

Tune parameters

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-03-28 17:35:59 +03:00
parent c5761dc8e8
commit 6d6f2aa393
5 changed files with 15 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/lite6_controller/src/lite6_controller.cpp
View File

@@ -89,8 +89,8 @@ public:
float xlim_upper = 0.305;
float ylim_lower = -0.1475;
float ylim_upper = 0.1475;
float zlim_lower = 0.210;
float zlim_upper = 0.218;
float zlim_lower = 0.1945;
float zlim_upper = 0.200;
//bool moved = false;
//
@@ -121,8 +121,8 @@ public:
this->move_group.setMaxAccelerationScalingFactor(1.0);
//setting this lower seems to improve overall time and prevents robot from moving too fast
//this->move_group.setMaxVelocityScalingFactor(1.0);
this->move_group.setMaxVelocityScalingFactor(0.8);
this->move_group.setMaxVelocityScalingFactor(1.0);
//this->move_group.setMaxVelocityScalingFactor(0.8);
// 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));
@@ -237,7 +237,7 @@ public:
mpr.planner_id = "LIN";
mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 0.7;
mpr.max_velocity_scaling_factor = 0.3;
mpr.max_acceleration_scaling_factor = 0.4;
//mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 10;