Adjust jump threshold and eff_step

2022-12-21 12:29:03 +02:00
parent 699aa4fba0
commit c76e82ce65
1 changed files with 2 additions and 2 deletions
--- a/src/lite6_controller/src/lite6_controller.cpp
+++ b/src/lite6_controller/src/lite6_controller.cpp
@@ -61,9 +61,9 @@ public:

    // dangerous with real robot
    // https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html
-    const double jump_threshold = 0.0;
+    const double jump_threshold = 0.00001;

-    const double eef_step = 0.01;
+    const double eef_step = 0.000001;
    double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
    RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);