Merge pull request #1742 from pazeshun/use-wait-interpolation-smooth

Use wait-interpolation-smooth for objects not to run away from gripper
start-jsk · Jun 23, 2016 · b1ee27d · b1ee27d
2 parents 4a66086 + 464921c
commit b1ee27d
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diff --git a/fc.rosinstall b/fc.rosinstall
@@ -38,6 +38,10 @@
     local-name: jsk-ros-pkg/jsk_robot
     uri: https://github.com/jsk-ros-pkg/jsk_robot.git
     version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_pr2eus
+    uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git
+    version: 0.3.4
 - git:
     local-name: ros-drivers/axis_camera
     uri: https://github.com/ros-drivers/axis_camera.git

diff --git a/jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter-interface.l b/jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter-interface.l
@@ -616,7 +616,7 @@
             )
           )
         )
-      (send self :wait-interpolation)
+      (send self :wait-interpolation-smooth 1000)
       ;; start the vacuum gripper after approaching to the object
       (ros::ros-info "[:try-to-pick-object] arm:~a start vacuum gripper" arm)
       (send self :start-grasp arm)