From 92cea7f521188b04ddeea60d3cee24e18eaf7eeb Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 17 Jun 2022 12:16:45 -0700 Subject: [PATCH] pushing Accel synch Remove --- .../nodes/collect_head_calibration_data.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/stretch_camera_testrig/nodes/collect_head_calibration_data.py b/stretch_camera_testrig/nodes/collect_head_calibration_data.py index 174b75f..5702a4d 100755 --- a/stretch_camera_testrig/nodes/collect_head_calibration_data.py +++ b/stretch_camera_testrig/nodes/collect_head_calibration_data.py @@ -55,7 +55,7 @@ class CollectHeadCalibrationDataNode: if test_rig: self.number_of_testrig_samples = 40 - def calibration_data_callback(self, marker_array, accel, joint_state): + def calibration_data_callback(self, marker_array, joint_state): # Prepare and assign data for calibration to member # variables. The configuration of the robot's joints, the # D435i acceleration, and the 3D fiducial estimates made via @@ -65,7 +65,7 @@ class CollectHeadCalibrationDataNode: self.callback_sync = True self.data_time = joint_state.header.stamp self.joint_state = joint_state - self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z] + # self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z] self.wrist_inside_marker_pose = None self.wrist_top_marker_pose = None @@ -803,11 +803,11 @@ class CollectHeadCalibrationDataNode: # Setup time synchronization for calibration data. joint_state_subscriber = message_filters.Subscriber('/stretch/joint_states', JointState) - accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) + # accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray) slop_time = 0.1 self.synchronizer = message_filters.ApproximateTimeSynchronizer( - [aruco_subscriber, accel_subscriber, joint_state_subscriber], 10, slop_time, allow_headerless=True) + [aruco_subscriber, joint_state_subscriber], 10, slop_time, allow_headerless=True) self.synchronizer.registerCallback(self.calibration_data_callback) self.trajectory_client = actionlib.SimpleActionClient('/stretch_controller/follow_joint_trajectory',