Read cartesian controller topic from rosparam

2021-11-24 11:34:12 +01:00
parent 2e1f3eb4a7
commit bcd270414f
4 changed files with 9 additions and 3 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -15,6 +15,9 @@ grasp_controller:
    depth_topic: /camera/depth/image_rect_raw
    min_z_dist: 0.3

+cartesian_velocity_controller:
+  topic: /cartesian_velocity_controller/set_command
+
 vgn:
  model: $(find vgn)/assets/models/vgn_conv.pth
  finger_depth: 0.05