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20221021_1

This commit is contained in:
litian.zhuang 2022-10-21 21:54:30 +08:00
parent b8e99f045a
commit 209c16a00a
2 changed files with 7 additions and 7 deletions
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2
src/3rd_app/move2grasp/scripts/grasp_d435.py
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@ -167,7 +167,7 @@ class GraspObject():
# 提起物体 # 提起物体
pos.x = 250 #160 pos.x = 250 #160
pos.y = 0 pos.y = 0
pos.z = 150 #55 pos.z = 170 #55
self.pub1.publish(pos) self.pub1.publish(pos)
r1.sleep() r1.sleep()
# 使用CV检测物体 # 使用CV检测物体

12
src/3rd_app/move2grasp/scripts/teleop.py
View File

@ -120,18 +120,18 @@ def keyboardLoop():
elif ch == 'a': elif ch == 'a':
max_rv = yaw_rate_ max_rv = yaw_rate_
speed = 0 speed = 0
turn = 0.15 turn = 0.5
elif ch == 'd': elif ch == 'd':
max_rv = yaw_rate_ max_rv = yaw_rate_
speed = 0 speed = 0
turn = -0.15 turn = -0.5
elif ch == 'W': elif ch == 'W':
max_tv = run_vel_ max_tv = run_vel_
speed = 1 speed = 1.5
turn = 0 turn = 0
elif ch == 'S': elif ch == 'S':
max_tv = run_vel_ max_tv = run_vel_
speed = -1 speed = -1.5
turn = 0 turn = 0
elif ch == 'A': elif ch == 'A':
max_rv = yaw_rate_run_ max_rv = yaw_rate_run_
@ -152,11 +152,11 @@ def keyboardLoop():
elif ch == 'j': elif ch == 'j':
max_rv = yaw_rate_ max_rv = yaw_rate_
speed = 0 speed = 0
turn = 0.075 turn = 0.1
elif ch == 'l': elif ch == 'l':
max_rv = yaw_rate_ max_rv = yaw_rate_
speed = 0 speed = 0
turn = -0.075 turn = -0.1
elif ch == 'b' or ch == 'B': elif ch == 'b' or ch == 'B':
max_rv = yaw_rate_ max_rv = yaw_rate_
speed = 0 speed = 0