Moveit from source (#6)

* Add acceleration limits, required for new moveit. Signed-off-by: Jelmer de Wolde <[email protected]> * Decrease servo publish period, required for new moveit. Signed-off-by: Jelmer de Wolde <[email protected]> * Set pub_frame for joy_to_twist node. Signed-off-by: Jelmer de Wolde <[email protected]> --------- Signed-off-by: Jelmer de Wolde <[email protected]>
alliander-opensource · Nov 1, 2024 · 9d957cc · 9d957cc
1 parent 096e1d9
commit 9d957cc
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Showing 3 changed files with 20 additions and 19 deletions.
diff --git a/rcdt_franka/config/servo_params.yaml b/rcdt_franka/config/servo_params.yaml
@@ -20,7 +20,7 @@ scale:
 # override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]
 
 ## Properties of outgoing commands
-publish_period: 0.034  # 1/Nominal publish rate [seconds]
+publish_period: 0.033  # 1/Nominal publish rate [seconds]
 low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
 
 # What type of topic does your robot driver expect?

diff --git a/rcdt_franka/launch/franka.launch.py b/rcdt_franka/launch/franka.launch.py
@@ -87,6 +87,7 @@ def launch_setup(context: LaunchContext) -> None:
         parameters=[
             {"pub_topic": "/servo_node/delta_twist_cmds"},
             {"config_pkg": "rcdt_franka"},
+            {"pub_frame": "fr3_hand"},
         ],
     )
 

diff --git a/rcdt_franka_moveit_config/config/joint_limits.yaml b/rcdt_franka_moveit_config/config/joint_limits.yaml
@@ -15,45 +15,45 @@ joint_limits:
   fr3_finger_joint1:
     has_velocity_limits: true
     max_velocity: 0.20000000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_finger_joint2:
     has_velocity_limits: true
     max_velocity: 0.20000000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint1:
     has_velocity_limits: true
     max_velocity: 2.6200000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint2:
     has_velocity_limits: true
     max_velocity: 2.6200000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint3:
     has_velocity_limits: true
     max_velocity: 2.6200000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint4:
     has_velocity_limits: true
     max_velocity: 2.6200000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint5:
     has_velocity_limits: true
     max_velocity: 5.2599999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint6:
     has_velocity_limits: true
     max_velocity: 4.1799999999999997
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   fr3_joint7:
     has_velocity_limits: true
     max_velocity: 5.2599999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0