Fix size of keepout and ground collision object

Author: 708yamaguchi

jsk_fetch_robot/fetcheus/fetch-interface.l

@@ -200,12 +200,12 @@ Example: (send self :gripper :position) => 0.00"
   (:speak-jp (text &rest args &key (topic-name "robotsound_jp") &allow-other-keys)
     (send-super* :speak-jp text :topic-name topic-name args))
   (:add-keepout-collision-object ()
-    (let ((cube (make-cube 200 350 20))
-          (keepout (make-cylinder 300 20)))
+    (let ((cube (make-cube 200 350 10))
+          (keepout (make-cylinder 300 10)))
       (send cube :translate #f(-120 0 0))
-      (send keepout :translate #f(0 0 -10))
+      (send keepout :translate #f(0 0 -5))
       (setq keepout (body- keepout cube))
-      (send keepout :translate #f(0 0 375))
+      (send keepout :translate #f(0 0 370))
       (send *co* :add-attached-object keepout
             "base_link"
             :frame-id base-frame-id
@@ -215,9 +215,9 @@ Example: (send self :gripper :position) => 0.00"
     (send *co* :delete-attached-object-by-id "keepout")
     (send *co* :delete-object-by-id "keepout"))
   (:add-ground-collision-object ()
-    (let ((cube (make-cube 200 350 50))
+    (let ((cube (make-cube 500 500 50))
           (ground (make-cylinder 1000 50)))
-      (send cube :translate #f(-120 0 0))
+      (send cube :translate #f(-20 0 0))
       (send ground :translate #f(0 0 -25))
       (setq ground (body- ground cube))
       (send ground :translate #f(0 0 -25))