From b781c47328c23704a47791d38a57105baf548f26 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Wed, 8 Sep 2021 17:32:21 +0200 Subject: [PATCH] Remove calibration error --- cfg/active_grasp.yaml | 3 +-- scripts/bt_sim_node.py | 5 ----- 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml index b3158df..e47d0a5 100644 --- a/cfg/active_grasp.yaml +++ b/cfg/active_grasp.yaml @@ -1,7 +1,6 @@ bt_sim: - gui: true + gui: False cam_noise: True - calib_error: True scene: test.yaml grasp_controller: diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py index 4ead748..062fd66 100755 --- a/scripts/bt_sim_node.py +++ b/scripts/bt_sim_node.py @@ -291,11 +291,6 @@ class CameraPlugin(Plugin): self.camera = camera self.name = name self.cam_noise = rospy.get_param("~cam_noise", True) - if rospy.get_param("~calib_error"): - self.camera.calib_error = Transform( - Rotation.from_euler("xyz", [0.27, 0.034, 0.18], degrees=True), - np.r_[0.002, 0.0018, 0.0007], - ) self.cv_bridge = cv_bridge.CvBridge() self.init_publishers()