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update for simulation

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This commit is contained in:
zhangwanjie 2020-07-01 19:43:09 +08:00
parent 7946834824
commit 750a3c3e06
1 changed files with 3 additions and 3 deletions
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6
wpb_home_behaviors/src/wpb_home_grab_server.cpp
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@ -580,7 +580,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
} }
nTimeDelayCounter ++; nTimeDelayCounter ++;
VelCmd(0,0,0); VelCmd(0,0,0);
if(nTimeDelayCounter > 200) if(nTimeDelayCounter > 50)
{ {
fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset; fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset;
fMoveTargetY = 0; fMoveTargetY = 0;
@ -604,7 +604,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
nTimeDelayCounter++; nTimeDelayCounter++;
VelCmd(0,0,0); VelCmd(0,0,0);
if(nTimeDelayCounter > 50) if(nTimeDelayCounter > 30)
{ {
nTimeDelayCounter = 0; nTimeDelayCounter = 0;
nStep = STEP_OBJ_UP; nStep = STEP_OBJ_UP;
@ -623,7 +623,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
} }
nTimeDelayCounter++; nTimeDelayCounter++;
VelCmd(0,0,0); VelCmd(0,0,0);
if(nTimeDelayCounter > 50) if(nTimeDelayCounter > 10)
{ {
fMoveTargetX = -(fTargetGrabX-0.4); fMoveTargetX = -(fTargetGrabX-0.4);
fMoveTargetY = 0; fMoveTargetY = 0;