使用するライブラリを整理

rt-net · Oct 7, 2024 · 34735cf · 34735cf
1 parent 11a7cf7
commit 34735cf
Show file tree

Hide file tree

Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/sciurus17_examples/src/pick_and_place_tf.cpp b/sciurus17_examples/src/pick_and_place_tf.cpp
@@ -25,7 +25,6 @@
 
 #include "angles/angles.h"
 #include "geometry_msgs/msg/pose.hpp"
-#include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "moveit/move_group_interface/move_group_interface.h"
 #include "pose_presets.hpp"
@@ -183,7 +182,7 @@ class PickAndPlaceTf : public rclcpp::Node
 
     // 物体位置のオフセット
     const double APPROACH_OFFSET_Z = 0.12;
-    const double GRASP_OFFSET_Z = 0.07;
+    const double GRASP_OFFSET_Z = 0.08;
 
     // 物体位置に応じて左右の腕を切り替え
     int current_arm = 0;

diff --git a/sciurus17_examples/src/point_cloud_detection.cpp b/sciurus17_examples/src/point_cloud_detection.cpp
@@ -42,8 +42,6 @@
 #include "pcl/segmentation/sac_segmentation.h"
 #include "pcl_conversions/pcl_conversions.h"
 #include "pcl_ros/transforms.hpp"
-#include "tf2/LinearMath/Quaternion.h"
-#include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2_ros/transform_broadcaster.h"
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/buffer.h"