Add param for wait time in direct cam pointing mode

tu-darmstadt-ros-pkg · Sep 28, 2021 · 05b7903 · 05b7903
1 parent 775d907
commit 05b7903
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/...joint_controller/include/hector_camera_joint_controller/cam_joint_trajectory_controller.h b/...joint_controller/include/hector_camera_joint_controller/cam_joint_trajectory_controller.h
@@ -169,6 +169,8 @@ class CamJointTrajControl
   ros::Time pattern_switch_time_;
 
   bool use_direct_position_commands_;
+  double direct_position_command_default_wait_time_;
+
   bool use_planning_based_pointing_;
   bool disable_orientation_camera_command_input_;
 };

diff --git a/hector_camera_joint_controller/src/cam_joint_trajectory_controller.cpp b/hector_camera_joint_controller/src/cam_joint_trajectory_controller.cpp
@@ -117,6 +117,9 @@ void CamJointTrajControl::Init()
 
 
   pnh_.getParam("use_direct_position_commands", use_direct_position_commands_);
+  direct_position_command_default_wait_time_ = 4.0;
+  pnh_.getParam("direct_position_command_default_wait_time", direct_position_command_default_wait_time_);
+
   pnh_.getParam("use_planning_based_pointing", use_planning_based_pointing_);
 
   if (type_string == "xyz"){
@@ -795,7 +798,7 @@ void CamJointTrajControl::lookAtGoalCallback()
 
     if (use_direct_position_commands_){
       reached_lookat_target_timer_ = nh_.createTimer(
-            ros::Duration(4.0),
+            ros::Duration(direct_position_command_default_wait_time_),
             &CamJointTrajControl::directPointingTimerCallback,
             this,
             true,