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update path_planning_and_obstracle_aavoidance_demo.py

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wangWking 2022-06-09 15:13:41 +08:00
parent 4e8a1e4155
commit 0902c9676c
1 changed files with 8 additions and 8 deletions
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mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
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@ -32,7 +32,7 @@ class MoveItPlanningDemo:
# Set the reference coordinate system used for the target position # Set the reference coordinate system used for the target position
# 设置目标位置所使用的参考坐标系 # 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1" self.reference_frame = "base"
self.arm.set_pose_reference_frame(self.reference_frame) self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
@ -116,13 +116,13 @@ class MoveItPlanningDemo:
suit_post.pose.orientation.z = quat[2] suit_post.pose.orientation.z = quat[2]
suit_post.pose.orientation.w = quat[3] suit_post.pose.orientation.w = quat[3]
suit_path = ( # suit_path = (
roslib.packages.get_pkg_dir("mycobot_description") # roslib.packages.get_pkg_dir("mycobot_description")
+ "/urdf/mycobot/suit_env.dae" # + "/urdf/mycobot/suit_env.dae"
) # )
# need `pyassimp==3.3` # # need `pyassimp==3.3`
self.scene.add_mesh("suit", suit_post, suit_path) # self.scene.add_mesh("suit", suit_post, suit_path)
rospy.sleep(2) # rospy.sleep(2)
# Run it again if there is an environmental impact,有环境影响后再运行一次 # Run it again if there is an environmental impact,有环境影响后再运行一次
self.moving() self.moving()