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update grab_server for simulation

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This commit is contained in:
zhangwanjie 2020-06-21 01:58:49 +08:00
parent 5925782b90
commit 7946834824
1 changed files with 6 additions and 4 deletions
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10
wpb_home_behaviors/src/wpb_home_grab_server.cpp
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@ -185,7 +185,9 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
if(
p.x < 1.2 &&
p.y > -1.0 &&
p.y < 1.0
p.y < 1.0 &&
p.z > 0.6 &&
p.z < 1.5
)
{
new_point_cloud.push_back(p);
@ -578,7 +580,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
}
nTimeDelayCounter ++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 50)
if(nTimeDelayCounter > 200)
{
fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset;
fMoveTargetY = 0;
@ -602,7 +604,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 30)
if(nTimeDelayCounter > 50)
{
nTimeDelayCounter = 0;
nStep = STEP_OBJ_UP;
@ -621,7 +623,7 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
}
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 10)
if(nTimeDelayCounter > 50)
{
fMoveTargetX = -(fTargetGrabX-0.4);
fMoveTargetY = 0;