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This commit is contained in:
Ilya Uraev 2024-04-22 15:06:46 +03:00
parent d5e7768d90
commit e8ea09e020
20 changed files with 315 additions and 168 deletions
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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");