Load scene config

2021-12-03 13:52:07 +01:00
parent e7aa81fed3
commit d8ea9683db
5 changed files with 41 additions and 15 deletions
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -59,12 +59,14 @@ class GraspController:
        req = SwitchControllerRequest()
        req.start_controllers = ["cartesian_velocity_controller"]
        req.stop_controllers = ["position_joint_trajectory_controller"]
+        req.strictness = 1
        self.switch_controller(req)

    def switch_to_joint_trajectory_control(self):
        req = SwitchControllerRequest()
        req.start_controllers = ["position_joint_trajectory_controller"]
        req.stop_controllers = ["cartesian_velocity_controller"]
+        req.strictness = 1
        self.switch_controller(req)

    def init_camera_stream(self):