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Change default visualizer camera settings

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This commit is contained in:
Michel Breyer
2021-04-28 17:27:55 +02:00
parent 404a2cadc6
commit af955b40ed
2 changed files with 4 additions and 1 deletions
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3
bt_sim_node.py
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@@ -47,7 +47,7 @@ class BtSimNode:
self.step_cnt = 0
self.reset_requested = False
self.move_server.start()
T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.1, 0.1])
T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.15, 0.1])
self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task")
def reset(self, req):
@@ -97,6 +97,7 @@ class BtSimNode:
def publish_cam_imgs(self):
_, depth = self.sim.camera.update()
depth_msg = self.cv_bridge.cv2_to_imgmsg(depth)
depth_msg.header.stamp = rospy.Time.now()
self.depth_pub.publish(depth_msg)
def move(self, goal):