From ec711ac992162a690738c37bb42c8504aa0fe59a Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Mon, 6 Sep 2021 08:15:05 +0200
Subject: [PATCH] working setup

---
 src/util/scene_controller_node.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/util/scene_controller_node.cpp b/src/util/scene_controller_node.cpp
index c491346..59a46a9 100644
--- a/src/util/scene_controller_node.cpp
+++ b/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);
-- 
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