added tablet as valid configuration for Stretch 3

hello-robot · May 23, 2024 · 3f34265 · 3f34265
1 parent 3eb8bcf
commit 3f34265
Showing 1 changed file with 16 additions and 14 deletions.
diff --git a/launch/web_interface.launch.py b/launch/web_interface.launch.py
@@ -85,6 +85,8 @@ def map_configuration_to_drivers(model, tool, has_beta_teleop_kit, has_nav_head_
         return 'both'     , False, False, True
     elif model == "SE3"   and tool == "eoa_wrist_dw3_tool_nil" and has_beta_teleop_kit == False and has_nav_head_cam == True:
         return 'both'     , False, False, True
+    elif model == "SE3"   and tool == "eoa_wrist_dw3_tool_tablet_12in" and has_beta_teleop_kit == False and has_nav_head_cam == True:
+        return 'both'     , False, False, True
 
     raise ValueError(f'cannot find valid configuration for model={model}, tool={tool}, has_beta_teleop_kit={has_beta_teleop_kit}, has_nav_head_cam={has_nav_head_cam}')
 
@@ -301,18 +303,18 @@ def generate_launch_description():
         )
     )
 
-    ld.add_action(
-        ExecuteProcess(
-            cmd=[
-                [
-                    FindExecutable(name="ros2"),
-                    " param set ",
-                    "/gripper_camera ",
-                    "depth_module.enable_auto_exposure ",
-                    "true",
-                ]
-            ],
-            shell=True,
-        )
-    )
+    # ld.add_action(
+    #     ExecuteProcess(
+    #         cmd=[
+    #             [
+    #                 FindExecutable(name="ros2"),
+    #                 " param set ",
+    #                 "/gripper_camera ",
+    #                 "depth_module.enable_auto_exposure ",
+    #                 "true",
+    #             ]
+    #         ],
+    #         shell=True,
+    #     )
+    # )
     return ld