Update tag_id to match the one used in gz

PickNikRobotics · Feb 21, 2024 · 004a4f8 · 004a4f8
1 parent 3a2bb3f
commit 004a4f8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/picknik_ur_site_config/objectives/visual_servo_to_reference.xml b/src/picknik_ur_site_config/objectives/visual_servo_to_reference.xml
@@ -6,14 +6,14 @@
       <Action ID="LoadObjectiveParameters" config_file_name="visual_servo_reference.yaml" parameters="{servo_reference_parameters}"/>
       <Action ID="ActivateControllers" controller_names="servo_controller"/>
       <Control ID="Sequence">
-        <SubTree ID="Sample April Tag" _collapsed="true" num_samples="1" tag_id="5" apriltag_config="51mm_apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
+        <SubTree ID="Sample April Tag" _collapsed="true" num_samples="1" tag_id="2" apriltag_config="51mm_apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
         <Action ID="TransformPoseFrame" input_pose="{tag_pose}" target_frame_id="base_link" output_pose="{tag_pose_base}"/>
         <Action ID="TransformPoseFromYaml" input_pose="{tag_pose_base}" parameter_namespace="ServoReference" pose_parameters="{servo_reference_parameters}" output_pose="{reference_pose}"/>
       </Control>
       <Control ID="Parallel" success_count="1" failure_count="1">
         <Decorator ID="KeepRunningUntilFailure">
           <Control ID="Sequence">
-            <SubTree ID="Sample April Tag" _collapsed="true" num_samples="1" tag_id="5" apriltag_config="51mm_apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
+            <SubTree ID="Sample April Tag" _collapsed="true" num_samples="1" tag_id="2" apriltag_config="51mm_apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
             <Action ID="TransformPoseFrame" input_pose="{tag_pose}" target_frame_id="base_link" output_pose="{tag_pose_base}"/>
           </Control>
         </Decorator>