Change name of visual servo Behavior (#67)

PickNikRobotics · Jul 18, 2023 · f7f9774 · f7f9774
1 parent 6e3adef
commit f7f9774
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/picknik_ur_site_config/objectives/apriltag_servoing.xml b/src/picknik_ur_site_config/objectives/apriltag_servoing.xml
@@ -6,7 +6,7 @@
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0"/>
             <Action ID="LoadObjectiveParameters" config_file_name="apriltag_servoing_config.yaml" parameters="{parameters}"/>
             <Control ID="Parallel" success_count="1" failure_count="1">
-                <Action ID="GetApriltagPose" parameters="{parameters}" camera_stream_topic="/wrist_mounted_camera/color/image_raw" detection_transform_stamped_topic="/apriltag_detections"/>
+                <Action ID="StreamApriltagPose" parameters="{parameters}" camera_stream_topic="/wrist_mounted_camera/color/image_raw" detection_transform_stamped_topic="/apriltag_detections"/>
                 <Control ID="Sequence">
                     <Action ID="GraspPoseStreamer" detections_streaming_topic="/apriltag_detections" goal_pose_streaming_topic="/visual_servo_goal_pose" pose_error_topic="/visual_servo_pose_error" goal_frame_id="base_link" target_frame_id="frame_id0" goal_linear_threshold="0.05" goal_angular_threshold="0.1" goal_pose_translation_x="0" goal_pose_translation_y="0.1" goal_pose_translation_z="0.10" goal_pose_orientation_x="1.0" goal_pose_orientation_y="0" goal_pose_orientation_z="0" goal_pose_orientation_w="0"/>
                     <Action ID="GraspPoseStreamer" detections_streaming_topic="/apriltag_detections" goal_pose_streaming_topic="/visual_servo_goal_pose" pose_error_topic="/visual_servo_pose_error" goal_frame_id="base_link" target_frame_id="frame_id0" goal_linear_threshold="0.02" goal_angular_threshold="0.1" goal_pose_translation_x="0.0" goal_pose_translation_y="0.1" goal_pose_translation_z="0.02" goal_pose_orientation_x="1.0" goal_pose_orientation_y="0" goal_pose_orientation_z="0" goal_pose_orientation_w="0"/>

diff --git a/src/picknik_ur_site_config/objectives/apriltag_servoing_config.yaml b/src/picknik_ur_site_config/objectives/apriltag_servoing_config.yaml
@@ -1,4 +1,4 @@
-GetApriltagPose:
+StreamApriltagPose:
   apriltag_family_name: 16h5
   apriltag_ids:
     - 0