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Read the cam pub rate from the config file

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This commit is contained in:
Michel Breyer 2021-07-12 15:59:59 +02:00
parent 2f07ceab82
commit 7d3283ff32
2 changed files with 8 additions and 3 deletions
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1
launch/active_grasp.yaml
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@ -1,6 +1,7 @@
bt_sim: bt_sim:
gui: True gui: True
seed: 12 seed: 12
cam_pub_rate: 10
active_grasp: active_grasp:
frame_id: task frame_id: task

10
scripts/bt_sim_node.py
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@ -17,9 +17,9 @@ from robot_utils.ros.conversions import *
class BtSimNode: class BtSimNode:
def __init__(self): def __init__(self):
gui = rospy.get_param("~gui", True) self.load_parameters()
rng = self.get_rng() rng = self.get_rng()
self.sim = Simulation(gui=gui, rng=rng) self.sim = Simulation(gui=self.gui, rng=rng)
self.robot_state_interface = RobotStateInterface(self.sim.arm, self.sim.gripper) self.robot_state_interface = RobotStateInterface(self.sim.arm, self.sim.gripper)
self.arm_interface = ArmInterface(self.sim.arm, self.sim.controller) self.arm_interface = ArmInterface(self.sim.arm, self.sim.controller)
self.gripper_interface = GripperInterface(self.sim.gripper) self.gripper_interface = GripperInterface(self.sim.gripper)
@ -30,6 +30,10 @@ class BtSimNode:
self.advertise_services() self.advertise_services()
self.broadcast_transforms() self.broadcast_transforms()
def load_parameters(self):
self.gui = rospy.get_param("~gui", True)
self.cam_pub_rate = rospy.get_param("~cam_pub_rate")
def get_rng(self): def get_rng(self):
seed = rospy.get_param("~seed", None) seed = rospy.get_param("~seed", None)
return np.random.default_rng(seed) if seed else np.random return np.random.default_rng(seed) if seed else np.random
@ -69,7 +73,7 @@ class BtSimNode:
self.robot_state_interface.update() self.robot_state_interface.update()
self.arm_interface.update() self.arm_interface.update()
self.gripper_interface.update(self.sim.dt) self.gripper_interface.update(self.sim.dt)
if self.step_cnt % int(self.sim.rate / 5) == 0: if self.step_cnt % int(self.sim.rate / self.cam_pub_rate) == 0:
self.camera_interface.update() self.camera_interface.update()