rt-net / crane_plus

CRANE+ V2 ROS 2 Packages

Apache License 2.0

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軌道生成の失敗時にpick_and_placeを中断する機能を追加 #65

Closed YusukeKato closed 1 year ago

YusukeKato commented 1 year ago

What does this implement/fix?

軌道生成に失敗した時、pick_and_placeを中断して待機姿勢に戻る機能を追加します。

Does this close any currently open issues?

しません。

How has this been tested?

実機のCRANE+ V2で動作確認しました。

実行したコマンドは下記のとおりです。

# ターミナル1
ros2 launch crane_plus_examples demo.launch.py port_name:=/dev/ttyUSB0 use_camera:=true video_device:=/dev/video2
# ターミナル2
ros2 launch crane_plus_examples camera_example.launch.py example:='color_detection'

Any other comments?

Checklists

[x] I have read the CONTRIBUTING guidelines.
- If there is no guideline in the repository, rt-net organization's guideline applies.
[x] I have checked to ensure there aren't other open Pull Requests for the same change.