add 2mm for spark carry. change spark_follow smoother.yaml param

2022-08-09 11:58:32 +08:00 · 2022-08-09 11:58:32 +08:00 · 5def62264b
parent 7c52e1ed9c
commit 5def62264b
2 changed files with 2 additions and 2 deletions
--- 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()

--- 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