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Publish simulation state in multiple threads

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This commit is contained in:
Michel Breyer
2021-07-14 16:52:53 +02:00
parent 7d3283ff32
commit 8989115bd7
5 changed files with 124 additions and 93 deletions
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2
launch/active_grasp.launch
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
<arg name="launch_rviz" default="true" />
<arg name="launch_rviz" default="false" />
<rosparam command="load" file="$(find active_grasp)launch/active_grasp.yaml" subst_value="true" />

7
launch/active_grasp.yaml
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@@ -1,7 +1,6 @@
bt_sim:
gui: True
seed: 12
cam_pub_rate: 10
active_grasp:
frame_id: task
@@ -10,9 +9,9 @@ active_grasp:
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
camera:
frame_id: cam_optical_frame
info_topic: /cam/depth/camera_info
depth_topic: /cam/depth/image_raw
frame_id: camera_optical_frame
info_topic: /camera/depth/camera_info
depth_topic: /camera/depth/image_raw
vgn:
model: $(find vgn)/assets/models/vgn_conv.pth