scenario_2 and ur_controller

sequenceplanner · Apr 6, 2022 · a40c8db · a40c8db
1 parent e6b248d
commit a40c8db
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/teaching_ghost/src/teaching_ghost.rs b/teaching_ghost/src/teaching_ghost.rs
@@ -346,7 +346,7 @@ async fn update_kinematic_chain(
     let tcp_id_local = &tcp_id.lock().unwrap();
 
     let tcp_in_face_plate =
-        lookup_tf(face_plate_id_local, &tcp_id_local, 3000, tf_lookup_client).await;
+        lookup_tf(face_plate_id_local, &tcp_id_local, tf_lookup_client).await;
 
     match tcp_in_face_plate {
         Some(frame) => {
@@ -607,13 +607,13 @@ async fn reset_ghost_server(
 async fn lookup_tf(
     parent_frame_id: &str,
     child_frame_id: &str,
-    deadline: i32,
+    // deadline: i32,
     tf_lookup_client: &r2r::Client<LookupTransform::Service>,
 ) -> Option<TransformStamped> {
     let request = LookupTransform::Request {
         parent_frame_id: parent_frame_id.to_string(),
         child_frame_id: child_frame_id.to_string(),
-        deadline,
+        // deadline,
     };
 
     let response = tf_lookup_client

diff --git a/teaching_marker/teaching_marker/teaching_marker.py b/teaching_marker/teaching_marker/teaching_marker.py
@@ -47,7 +47,7 @@ def get_initial_marker_pose(self):
         response = LookupTransform.Response()
         request.parent_frame_id = self.base_link
         request.child_frame_id = self.tcp_link
-        request.deadline = 3000
+        # request.deadline = 3000
         future = self.client.call_async(request)
         self.get_logger().info(f"request sent: {request}")
         while rclpy.ok():