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Adjust jump threshold and eff_step

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Nicolas Hiillos
2022-12-21 12:29:03 +02:00
parent 699aa4fba0
commit c76e82ce65
1 changed files with 2 additions and 2 deletions
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4
src/lite6_controller/src/lite6_controller.cpp
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@@ -61,9 +61,9 @@ public:
// dangerous with real robot // dangerous with real robot
// https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html // 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); 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); RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);