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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_real.launch.py
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@@ -154,6 +154,12 @@ def launch_setup(context, *args, **kwargs):
ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
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
#kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
#kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
#kinematics_yaml['kinematics_solver_timeout'] = 0.005
@@ -182,7 +188,7 @@ 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
add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
add_prefix_to_moveit_params(