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Misc updates

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This commit is contained in:
Nicolas Hiillos
2023-03-21 08:38:12 +02:00
parent fe8fa8c0cd
commit a71ceb3a90
4 changed files with 14 additions and 4 deletions
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2
src/drawing_controller/drawing_controller/svg_path_parser.py
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@@ -115,7 +115,7 @@ class SVGPathParser():
maxval = np.amax(np.absolute(control_points))
#print('maxxv', maxval)
control_points = control_points / maxval #normalize values
n = 10
n = 50
curve = cf.cubic_curve(control_points)
lin = np.linspace(curve.start(0), curve.end(0), n)
coordinates = curve(lin)

7
src/lite6_controller/src/lite6_controller.cpp
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@@ -83,7 +83,7 @@ public:
float xlim_upper = 0.305;
float ylim_lower = -0.1475;
float ylim_upper = 0.1475;
float zlim_lower = 0.208;
float zlim_lower = 0.210;
float zlim_upper = 0.218;
//bool moved = false;
@@ -113,7 +113,10 @@ public:
//command_list_manager = new pilz_industrial_motion_planner::CommandListManager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
// Use upper joint velocity and acceleration limits
this->move_group.setMaxAccelerationScalingFactor(1.0);
this->move_group.setMaxVelocityScalingFactor(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);
// 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));