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); -- GitLab