From 5116acf4544d4cbc969e205fd65c0f8fe28e2c27 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Wed, 13 Sep 2023 21:46:12 -0400 Subject: [PATCH] Change fail_out_of_range_goal default to False --- stretch_core/README.md | 2 +- stretch_core/launch/stretch_driver.launch | 2 ++ stretch_core/nodes/stretch_driver | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/stretch_core/README.md b/stretch_core/README.md index a19b234..043ee54 100644 --- a/stretch_core/README.md +++ b/stretch_core/README.md @@ -8,7 +8,7 @@ *detect_aruco_markers* : node that detects and estimates the pose of ArUco markers, including the markers on the robot's body -*d435i_** : various nodes to help use the Stretch RE1's 3D camera +*d435i_* : various nodes to help use the Stretch RE1's 3D camera *keyboard_teleop* : node that provides a keyboard interface to control the robot's joints diff --git a/stretch_core/launch/stretch_driver.launch b/stretch_core/launch/stretch_driver.launch index a0ef9b0..cc80f7a 100644 --- a/stretch_core/launch/stretch_driver.launch +++ b/stretch_core/launch/stretch_driver.launch @@ -41,7 +41,9 @@ + diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index 99e504f..f7681d5 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -543,7 +543,7 @@ class StretchDriverNode: self.last_twist_time = rospy.get_time() # start action server for joint trajectories - self.fail_out_of_range_goal = rospy.get_param('~fail_out_of_range_goal', True) + self.fail_out_of_range_goal = rospy.get_param('~fail_out_of_range_goal', False) self.joint_trajectory_action = JointTrajectoryAction(self) self.joint_trajectory_action.server.start() self.diagnostics = StretchDiagnostics(self, self.robot)