Integration - 2024.08.19 (#17)

* Added install of pyquaternion * Added controller joint names parameter for BT plugin; increased FJT proxy tolerance to 0.03 --------- Co-authored-by: Yolnan <[email protected]>
ros-industrial-consortium · Aug 19, 2024 · 4f6298a · 4f6298a
1 parent 031a3fb
commit 4f6298a
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -7,10 +7,12 @@ ENV DEBIAN_FRONTEND noninteractivej
 
 USER root
 
-
 # Run apt update and install useful utilities like sudo
 RUN apt update -y -qq && apt install -y -qq sudo
 
+# Install pyquaternion
+RUN python3 -m pip install pyquaternion
+
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/snp_automate_2023
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/snp_automate_2023 \
@@ -30,4 +32,4 @@ RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/snp_automate_2023 \
   && rm -rf build log
 
 COPY --chmod=755 docker/launch_snp_automate_2023.sh /opt/launch_snp_automate_2023.sh
-ENTRYPOINT ["/opt/launch_snp_automate_2023.sh"]
+ENTRYPOINT ["/opt/launch_snp_automate_2023.sh"]
diff --git a/launch/start.launch.xml b/launch/start.launch.xml
@@ -49,6 +49,7 @@
     <!-- Home -->
     <param name="home_state_joint_values" value="[0.0, 0.0, 1.57, 0.0, 0.0, 0.785]"/>
     <param name="home_state_joint_names" value="['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']"/>
+    <param name="controller_joint_names" value="['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']"/>
     <param name="freespace_tree" value="go_home_main"/>
     <!-- Industrial Reconstruction parameters -->
     <param name="ir.tsdf.min.x" value="0.21"/>
@@ -113,7 +114,7 @@
     <node pkg="motoros2_fjt_pt_queue_proxy" exec="server" name="fjt_proxy">
       <param name="max_retries" value="200"/>
       <param name="busy_wait_time" value ="0.1"/>
-      <param name="convergence_threshold" value="0.01"/>
+      <param name="convergence_threshold" value="0.03"/>
     </node>
   </group>
   <group if="$(var sim_robot)">