20221021_1

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       

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