From 2e3c1b052498b646c76f2263fee3206bb6412da8 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 1 Jul 2020 13:03:07 +0200
Subject: [PATCH] fix mapping and set planner to 'fluid'
---
ros2rag.starter/src/main/jastadd/Definitions.ros2rag | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
index 60e7d19..94c7aa1 100644
--- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
+++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
@@ -22,7 +22,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
// System.out.println("LinkStateToIntPosition");
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
- return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5)));
+ return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 - 0.5)));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
@@ -30,6 +30,6 @@ CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
.setLoopTrajectory(true)
- .setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.CARTESIAN)
+ .setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.FLUID)
.build();
:}
--
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