goal_toleranceの設定と把持角の調整 (#193)

* goal_tolerance調整 * グリッパ角調整
rt-net · Dec 18, 2023 · 0b8d153 · 0b8d153
1 parent d1614cf
commit 0b8d153
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/crane_x7_control/config/crane_x7_controllers.yaml b/crane_x7_control/config/crane_x7_controllers.yaml
@@ -29,6 +29,7 @@ crane_x7_arm_controller:
 crane_x7_gripper_controller:
   ros__parameters:
     joint: crane_x7_gripper_finger_a_joint
+    goal_tolerance: 0.1
 
     command_interfaces:
       - position

diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp
@@ -163,7 +163,7 @@ class PickAndPlaceTf : public rclcpp::Node
   {
     const double GRIPPER_DEFAULT = 0.0;
     const double GRIPPER_OPEN = angles::from_degrees(60.0);
-    const double GRIPPER_CLOSE = angles::from_degrees(15.0);
+    const double GRIPPER_CLOSE = angles::from_degrees(20.0);
 
     // 何かを掴んでいた時のためにハンドを開閉
     control_gripper(GRIPPER_OPEN);