Small Fixes

- Add "/" to front of topic name in cv_model
- Change default spawn point to be closer to depth camera
- Fix desired grasp pose offset
This commit is contained in:
Sravan Balaji
2020-04-27 00:47:10 -04:00
parent e64d02c249
commit 9404576a4f
4 changed files with 3 additions and 8 deletions

View File

@@ -1,9 +1,4 @@
sensors:
logical_camera_1:
type: logical_camera
pose:
xyz: [1.2, 3.5, 1.5]
rpy: [0, 1.5707, 0]
depth_camera_1:
type: depth_camera
pose:

View File

@@ -50,7 +50,7 @@ def call_back(filename):
print('type: ', type_dict[predicted_label])
# publish a message, name of this node is 'cv_model'
pub = rospy.Publisher('cv_model', String, queue_size=10)
pub = rospy.Publisher('/cv_model', String, queue_size=10)
# rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz

View File

@@ -20,7 +20,7 @@ class ObjectSpawner
{
public:
ObjectSpawner(const std::string &model_file = "/app/rrrobot_ws/src/gazebo_models/model_mappings.txt")
: DEFAULT_SPAWN_POINT(1.21825, 5.474367, 0.937978),
: DEFAULT_SPAWN_POINT(1.21825, 4.0, 0.937978),
CONVEYOR_WIDTH(0.391404)
{
// DEFAULT_SPAWN_POINT.x = 0.2516105;

View File

@@ -127,7 +127,7 @@ public:
desired_grasp_pose = grasp_pose;
// TODO: Tune z offset so end effector doesn't hit object
desired_grasp_pose.position.z -= 0.025;
desired_grasp_pose.position.z += 0.01;
if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION)
{