diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag index 77225e9fb6abf9c91c11dd1b45adf22ff8ef5ff4..99aec4416578d7af313846eb2ed33645b58cc358 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(); :}