From 3b2a7be2c970b1f5f99a790945249673b8fa4fec Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Fri, 20 Sep 2024 08:53:09 -0400 Subject: [PATCH] Tweak configs --- moveit_ros/moveit_servo/config/panda_simulated_config.yaml | 2 +- moveit_ros/moveit_servo/config/test_config_panda.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml index 980370ca18..ea6e6147e3 100644 --- a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml +++ b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml @@ -28,7 +28,7 @@ publish_joint_accelerations: false ## Plugins for smoothing outgoing commands use_smoothing: true -smoothing_filter_plugin_name: "online_signal_smoothing::RuckigFilterPlugin" +smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin" # If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service, # which other nodes can use as a source for information about the planning environment. diff --git a/moveit_ros/moveit_servo/config/test_config_panda.yaml b/moveit_ros/moveit_servo/config/test_config_panda.yaml index 34e735875a..28b9b55634 100644 --- a/moveit_ros/moveit_servo/config/test_config_panda.yaml +++ b/moveit_ros/moveit_servo/config/test_config_panda.yaml @@ -56,7 +56,7 @@ status_topic: ~/status # Publish status to this topic command_out_topic: /panda_arm_controller/joint_trajectory # Publish outgoing commands here ## Collision checking for the entire robot body -check_collisions: true # Check collisions? +check_collisions: false # TODO: Servo integration tests seem flaky with collision checking on collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often. self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m] scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]