working setup

src/util/scene_controller_node.cpp

@@ -616,7 +616,7 @@ bool pickAndPlaceObjectCallback(ccf::PickPlaceService::Request &req,
             return false;
         }
 
-        system("rosrun dynamic_reconfigure dynparam set /move_group/pick_place cartesian_motion_step_size 0.01");
+        system("rosrun dynamic_reconfigure dynparam set /move_group/pick_place cartesian_motion_step_size 0.005");
 
         ROS_INFO_STREAM("[SCENECONTROLLER] Placing object.");
         if (!place(req.pose, planning_scene_interface, group, n)) {
@@ -698,7 +698,7 @@ bool pickAndDropObjectCallback(ccf::PickDropService::Request &req,
             return false;
         }
 
-        system("rosrun dynamic_reconfigure dynparam set /move_group/pick_place cartesian_motion_step_size 0.01");
+        system("rosrun dynamic_reconfigure dynparam set /move_group/pick_place cartesian_motion_step_size 0.003");
 
         ROS_INFO_STREAM("[SCENECONTROLLER] Dropping object.");
         bool success = drop(world_state::current_bin_id, planning_scene_interface, group, n);