From 209c16a00a734caa486979cbdde5a179f1dd4c2c Mon Sep 17 00:00:00 2001 From: "litian.zhuang" Date: Fri, 21 Oct 2022 21:54:30 +0800 Subject: [PATCH] 20221021_1 --- src/3rd_app/move2grasp/scripts/grasp_d435.py | 2 +- src/3rd_app/move2grasp/scripts/teleop.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/3rd_app/move2grasp/scripts/grasp_d435.py b/src/3rd_app/move2grasp/scripts/grasp_d435.py index c249cc4..f5b48d7 100755 --- a/src/3rd_app/move2grasp/scripts/grasp_d435.py +++ b/src/3rd_app/move2grasp/scripts/grasp_d435.py @@ -167,7 +167,7 @@ class GraspObject(): # 提起物体 pos.x = 250 #160 pos.y = 0 - pos.z = 150 #55 + pos.z = 170 #55 self.pub1.publish(pos) r1.sleep() # 使用CV检测物体 diff --git a/src/3rd_app/move2grasp/scripts/teleop.py b/src/3rd_app/move2grasp/scripts/teleop.py index ba94039..7f5f824 100755 --- a/src/3rd_app/move2grasp/scripts/teleop.py +++ b/src/3rd_app/move2grasp/scripts/teleop.py @@ -120,18 +120,18 @@ def keyboardLoop(): elif ch == 'a': max_rv = yaw_rate_ speed = 0 - turn = 0.15 + turn = 0.5 elif ch == 'd': max_rv = yaw_rate_ speed = 0 - turn = -0.15 + turn = -0.5 elif ch == 'W': max_tv = run_vel_ - speed = 1 + speed = 1.5 turn = 0 elif ch == 'S': max_tv = run_vel_ - speed = -1 + speed = -1.5 turn = 0 elif ch == 'A': max_rv = yaw_rate_run_ @@ -152,11 +152,11 @@ def keyboardLoop(): elif ch == 'j': max_rv = yaw_rate_ speed = 0 - turn = 0.075 + turn = 0.1 elif ch == 'l': max_rv = yaw_rate_ speed = 0 - turn = -0.075 + turn = -0.1 elif ch == 'b' or ch == 'B': max_rv = yaw_rate_ speed = 0