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Commit 17c0d795 authored by Sebastian Ebert's avatar Sebastian Ebert
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fixed bugs related to config

parent dfb797b6
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connector_node_ros_cgv: connector_node_ros_cgv:
cgv_address: "tcp://*:6576" cgv_address: "tcp://*:6576"
scene_controller: max_grasp_approach_velocity: 0.2
max_grasp_approach_velocity: 0.2 max_grasp_approach_acceleration: 0.2
max_grasp_approach_acceleration: 0.2 max_grasp_transition_velocity: 0.2
max_grasp_transition_velocity: 0.2 max_grasp_transition_acceleration: 0.2
max_grasp_transition_acceleration: 0.2 tud_grasp_force: 12.5
tud_grasp_force: 12.5
...@@ -728,15 +728,15 @@ int main(int argc, char **argv) { ...@@ -728,15 +728,15 @@ int main(int argc, char **argv) {
ros::param::get("is_simulated_robot", world_state::is_simulated_robot); ros::param::get("is_simulated_robot", world_state::is_simulated_robot);
if (world_state::is_simulated_robot) { if (!world_state::is_simulated_robot) {
ROS_INFO_STREAM("[SCENECONTROLLER] Using setup for real robot."); ROS_ERROR_STREAM("[SCENECONTROLLER] Using setup for real robot.");
if (!ros::param::has("/scene_controller/max_grasp_approach_velocity") || if (!ros::param::has("max_grasp_approach_velocity") ||
!ros::param::has("/scene_controller/max_grasp_approach_acceleration") || !ros::param::has("max_grasp_approach_acceleration") ||
!ros::param::has("/scene_controller/max_grasp_transition_velocity") || !ros::param::has("max_grasp_transition_velocity") ||
!ros::param::has("/scene_controller/max_grasp_transition_acceleration")) { !ros::param::has("max_grasp_transition_acceleration")) {
ROS_WARN_STREAM( ROS_WARN_STREAM(
"[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. "); "[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. ");
...@@ -746,35 +746,15 @@ int main(int argc, char **argv) { ...@@ -746,35 +746,15 @@ int main(int argc, char **argv) {
ros::param::set("max_grasp_transition_velocity", 0.05); ros::param::set("max_grasp_transition_velocity", 0.05);
ros::param::set("max_grasp_transition_acceleration", 0.05); ros::param::set("max_grasp_transition_acceleration", 0.05);
} else {
double max_grasp_approach_velocity = 0;
double max_grasp_approach_acceleration = 0;
double max_grasp_transition_velocity = 0;
double max_grasp_transition_acceleration = 0;
ros::param::get("/scene_controller/max_grasp_approach_velocity", max_grasp_approach_velocity);
ros::param::get("/scene_controller/max_grasp_approach_acceleration", max_grasp_approach_acceleration);
ros::param::get("/scene_controller/max_grasp_transition_velocity", max_grasp_transition_velocity);
ros::param::get("/scene_controller/max_grasp_transition_acceleration", max_grasp_transition_acceleration);
ROS_INFO_STREAM(
"[SCENECONTROLLER] Applied max_grasp_approach_velocity " << max_grasp_approach_velocity);
ROS_INFO_STREAM("[SCENECONTROLLER] Applied max_grasp_approach_acceleration "
<< max_grasp_approach_acceleration);
ROS_INFO_STREAM(
"[SCENECONTROLLER] Applied max_grasp_transition_velocity " << max_grasp_transition_velocity);
ROS_INFO_STREAM("[SCENECONTROLLER] Applied max_grasp_transition_acceleration "
<< max_grasp_transition_acceleration);
} }
if (!ros::param::has("/scene_controller/tud_grasp_force")) { if (!ros::param::has("tud_grasp_force")) {
ROS_WARN_STREAM( ROS_WARN_STREAM(
"[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. "); "[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. ");
ros::param::set("tud_grasp_force", 9.5); ros::param::set("tud_grasp_force", 9.5);
} else { } else {
double tud_grasp_fource = 0; double tud_grasp_fource = 0;
ros::param::get("/scene_controller/tud_grasp_force", tud_grasp_fource); ros::param::get("tud_grasp_force", tud_grasp_fource);
ROS_INFO_STREAM("[SCENECONTROLLER] Applied tud_grasp_force " << tud_grasp_fource); ROS_INFO_STREAM("[SCENECONTROLLER] Applied tud_grasp_force " << tud_grasp_fource);
} }
} }
......
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