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https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-31 03:13:14 +00:00
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
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@@ -1,9 +1,4 @@
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sensors:
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logical_camera_1:
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type: logical_camera
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pose:
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xyz: [1.2, 3.5, 1.5]
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rpy: [0, 1.5707, 0]
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depth_camera_1:
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type: depth_camera
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pose:
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@@ -50,7 +50,7 @@ def call_back(filename):
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print('type: ', type_dict[predicted_label])
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# publish a message, name of this node is 'cv_model'
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pub = rospy.Publisher('cv_model', String, queue_size=10)
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pub = rospy.Publisher('/cv_model', String, queue_size=10)
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# rospy.init_node('talker', anonymous=True)
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rate = rospy.Rate(10) # 10hz
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@@ -20,7 +20,7 @@ class ObjectSpawner
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{
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public:
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ObjectSpawner(const std::string &model_file = "/app/rrrobot_ws/src/gazebo_models/model_mappings.txt")
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: DEFAULT_SPAWN_POINT(1.21825, 5.474367, 0.937978),
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: DEFAULT_SPAWN_POINT(1.21825, 4.0, 0.937978),
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CONVEYOR_WIDTH(0.391404)
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{
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// DEFAULT_SPAWN_POINT.x = 0.2516105;
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@@ -127,7 +127,7 @@ public:
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desired_grasp_pose = grasp_pose;
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// TODO: Tune z offset so end effector doesn't hit object
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desired_grasp_pose.position.z -= 0.025;
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desired_grasp_pose.position.z += 0.01;
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if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION)
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{
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