From 4f6298a7e0c8111f9aeb9977b3e892d285e4d9e6 Mon Sep 17 00:00:00 2001
From: Michael Ripperger <michael.ripperger@swri.org>
Date: Mon, 19 Aug 2024 12:27:44 -0500
Subject: [PATCH] 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 <yolnantiger@gmail.com>
---
 docker/Dockerfile       | 6 ++++--
 launch/start.launch.xml | 3 ++-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index b0a3f2f..86e1f4c 100644
--- 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"]
\ No newline at end of file
+ENTRYPOINT ["/opt/launch_snp_automate_2023.sh"]
diff --git a/launch/start.launch.xml b/launch/start.launch.xml
index 3e716c9..e6e860e 100644
--- 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)">