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Add cartesian limits for pilz LIN planner

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Nicolas Hiillos
2023-03-27 15:55:52 +03:00
parent 2e28c4e99f
commit ef994440f4
4 changed files with 19 additions and 21 deletions
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7
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -182,11 +182,8 @@ 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
cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
# Planning Configuration
ompl_planning_pipeline_config = {