From 5def62264bd8508293188489195837bf3e74f2b7 Mon Sep 17 00:00:00 2001 From: "litian.zhuang" Date: Tue, 9 Aug 2022 11:58:32 +0800 Subject: [PATCH] add 2mm for spark carry. change spark_follow smoother.yaml param --- src/spark_app/spark_carry/nodes/s_carry_object_cv3.py | 2 +- src/spark_app/spark_follower/param/default/smoother.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py b/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py index 91c71a6..4f1fed9 100755 --- a/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py +++ b/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py @@ -245,7 +245,7 @@ class ReleaseObject(State): # go forward pos.x = 200 pos.y = 0 - pos.z = -40 #-80 + pos.z = -38 #-80 pub1.publish(pos) r1.sleep() diff --git a/src/spark_app/spark_follower/param/default/smoother.yaml b/src/spark_app/spark_follower/param/default/smoother.yaml index 00a1736..727f5df 100755 --- a/src/spark_app/spark_follower/param/default/smoother.yaml +++ b/src/spark_app/spark_follower/param/default/smoother.yaml @@ -17,4 +17,4 @@ decel_factor: 1 # 0 - none (default) # 1 - odometry # 2 - end robot commands -robot_feedback: 1 +robot_feedback: 0