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Merge branch 'main-update' into 101-pose_estimation_DOPE

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This commit is contained in:
shalenikol 2024-05-13 12:26:39 +03:00
commit e4c3c0f1c7
58 changed files with 5387 additions and 905 deletions
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2
rbs_bt_executor/src/EnvManager.cpp
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@ -35,7 +35,7 @@ public:
if (response->ok) {
// TODO We need better perfomance for call it in another place for all BT nodes
// - Make it via shared_ptr forward throught blackboard
auto t = std::make_shared<rbs_utils::AssemblyConfigLoader>("asp-example2", _node);
auto t = std::make_shared<rbs_utils::AssemblyConfigLoader>("asp-example", _node);
auto p = t->getWorkspaceInspectorTrajectory();
setOutput("workspace", p);
return BT::NodeStatus::SUCCESS;

4
rbs_bt_executor/src/MoveToPose.cpp
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@ -29,8 +29,8 @@ class MoveToPose : public BtAction<MoveToPoseAction> {
goal.robot_name = robot_name_;
goal.target_pose = pose_des;
goal.end_effector_acceleration = 0.5;
goal.end_effector_velocity = 0.5;
goal.end_effector_acceleration = 1.0;
goal.end_effector_velocity = 1.0;
RCLCPP_INFO(_node->get_logger(), "Goal populated");