Update sample_april_tag behavior

PickNikRobotics · Dec 19, 2023 · 6214f69 · 6214f69
1 parent d71b337
commit 6214f69
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/picknik_ur_gazebo_config/objectives/sample_april_tag.xml b/src/picknik_ur_gazebo_config/objectives/sample_april_tag.xml
@@ -13,7 +13,7 @@
             <Action ID="GetDetectionPose" detections="{detections}" target_id="{tag_id}" target_label="" detection_pose="{detection_pose}"/>
           </Control>
         </Decorator>
-        <Action ID="AveragePoseStamped" pose_sample="{detection_pose}" avg_pose="{avg_pose}" max_distance="{max_distance}" max_rotation="{max_rotation}"/>
+        <Action ID="AveragePoseStamped" pose_sample="{detection_pose}" avg_pose="{avg_pose}" max_distance="{max_distance}" max_rotation="{max_rotation}" num_samples="{num_cycles}"/>
         <!-- TODO: update this objective to allow rejecting noisy samples but fail after X attempts
         <Fallback name="Average pose or sample more">
             <Action ID="AveragePoseStamped"/>