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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_no_gui.launch.py
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@@ -158,7 +158,7 @@ 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
if add_gripper.perform(context) in ('True', 'true'):
gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
@@ -182,6 +182,12 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
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 Configuration
ompl_planning_pipeline_config = {
'move_group': {