add .gitignore

.gitignore

@@ -0,0 +1 @@
+vision_test/

vision_detect/vision_detect/VisionDetect/node/detect_node.py

@@ -6,29 +6,26 @@ import json
 from ament_index_python.packages import get_package_share_directory
 
 import cv2
-import open3d as o3d
-import numpy as np
-
 import torch
-from message_filters import Subscriber, ApproximateTimeSynchronizer
-
+import numpy as np
+import open3d as o3d
 from ultralytics import YOLO
 
 import rclpy
 from rclpy.node import Node
 from rclpy.task import Future
 from cv_bridge import CvBridge
-
+from message_filters import Subscriber, ApproximateTimeSynchronizer
 from sensor_msgs.msg import Image, CameraInfo
 from geometry_msgs.msg import Pose, Point, Quaternion
+
 from interfaces.msg import PoseClassAndID, PoseArrayClassAndID, ImgMsg
 from interfaces.srv import VisionObjectRecognition
 
-
 from ..utils import *
 
-share_dir = get_package_share_directory('vision_detect')
 
+share_dir = get_package_share_directory('vision_detect')
 
 class DetectNode(Node):
     """Detect Node"""
@@ -458,7 +455,7 @@ class DetectNode(Node):
                         "class_id": int(class_ids[i]),
                         "class_name": labels[class_ids[i]],
                         "pose": pose,
-                        "grab_width": grab_width
+                        "grab_width": grab_width * 1.05
                     }
                 )