[spot_basic_behaviors] add velocity limit to walk_behaviors

k-okada · Nov 22, 2023 · e078090 · e078090
1 parent 47ace0e
commit e078090
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...t_robot/jsk_spot_behaviors/spot_basic_behaviors/src/spot_basic_behaviors/walk_behavior.py b/...t_robot/jsk_spot_behaviors/spot_basic_behaviors/src/spot_basic_behaviors/walk_behavior.py
@@ -59,9 +59,9 @@ def run_main(self, start_node, end_node, edge, pre_edge):
         # start navigation
         success = False
         rate = rospy.Rate(10)
-        velocity_limit_linear_x = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_linear_x', None)
-        velocity_limit_linear_y = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_linear_y', None)
-        velocity_limit_angular_z = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_angular_z', None)
+        velocity_limit_linear_x = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_linear_x', 1.0)
+        velocity_limit_linear_y = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_linear_y', 1.0)
+        velocity_limit_angular_z = rospy.get_param('/spot_basic_behaviors/walk_behaviors/velocity_limit_angular_z', 1.0)
         if not self.silent_mode:
             self.sound_client.say('移動します', blocking=True)
         self.spot_client.navigate_to(