Merge branch 'develop'

qcr · May 27, 2022 · b7a85ed · b7a85ed
2 parents b5597b7 + d338af2
commit b7a85ed
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>benchbot_robot_controller</name>
-  <version>2.4.0</version>
+  <version>2.4.1</version>
   <description>The benchbot_robot_controller package</description>
 
   <maintainer email="[email protected]">Ben Talbot</maintainer>

diff --git a/src/robot_callbacks.py b/src/robot_callbacks.py
@@ -3,7 +3,7 @@
 import ros_numpy
 import rospy
 from geometry_msgs.msg import Twist
-from time import time
+from time import time, sleep
 
 _DEFAULT_SPEED_FACTOR = 1
 
@@ -165,6 +165,7 @@ def _move_to_pose(goal, publisher, controller):
     if (time() - t < _MOVE_TIMEOUT):
         _move_to_angle(goal, publisher, controller)
     publisher.publish(Twist())
+    sleep(0.65)
 
 
 def create_pose_list(data, controller):
@@ -189,7 +190,7 @@ def create_pose_list(data, controller):
 
     # TODO REMOVE HACK FOR FIXING CAMERA NAME!!!
     return {
-        'camera' if 'left_camera' in k else k: {
+        'camera' if 'camera_left' in k else k: {
             'parent_frame': controller.config['robot']['global_frame'],
             'translation_xyz': v[0:3, 3],
             'rotation_rpy': sp.rpy_from_SE3(v),