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Change acceleration limit and cartesian limit

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This commit is contained in:
Nicolas Hiillos
2023-03-10 13:29:29 +02:00
parent fe1a40cbc2
commit e64aa4fbae
3 changed files with 21 additions and 3 deletions
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8
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -302,7 +302,7 @@ def launch_setup(context, *args, **kwargs):
# FIX acceleration limits
for i in range(1,7):
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
#kinematics_yaml['kinematics_solver'] = 'lma_kinematics_plugin/LMAKinematicsPlugin'
@@ -336,6 +336,12 @@ def launch_setup(context, *args, **kwargs):
prefix=prefix.perform(context))
robot_description_parameters['cartesian_limits'] = {}
robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
robot_description_parameters['cartesian_limits']['max_rot_vel'] = 1.57
# Planning pipeline
# https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py