From 5ccd94cd1abb0c041514be00c798e3d32eb75265 Mon Sep 17 00:00:00 2001
From: Shaun Edwards <shaun.edwards@gmail.com>
Date: Tue, 28 May 2013 12:35:35 -0500
Subject: [PATCH] Added launch/configuration files for using real robot.
Updated joint limits to velocity limits of the driver (all of which can be
configured to make the robot move faster)
---
ur5_moveit_config/config/joint_limits.yaml | 14 +++++++-------
.../launch/ur5_moveit_controller_manager.launch | 14 ++++++++++++++
2 files changed, 21 insertions(+), 7 deletions(-)
diff --git a/ur5_moveit_config/config/joint_limits.yaml b/ur5_moveit_config/config/joint_limits.yaml
index 801a5e1..9b4d75b 100644
--- a/ur5_moveit_config/config/joint_limits.yaml
+++ b/ur5_moveit_config/config/joint_limits.yaml
@@ -1,31 +1,31 @@
joint_limits:
elbow_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
max_acceleration: 1.0
shoulder_lift_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
max_acceleration: 1.0
shoulder_pan_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
max_acceleration: 1.0
wrist_1_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
max_acceleration: 1.0
wrist_2_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
max_acceleration: 1.0
wrist_3_joint:
has_velocity_limits: true
- max_velocity: 1.0
+ max_velocity: 0.45
has_acceleration_limits: true
- max_acceleration: 1.0
\ No newline at end of file
+ max_acceleration: 1.0
diff --git a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch
index 5d02698..102f84e 100644
--- a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch
+++ b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch
@@ -1,3 +1,17 @@
<launch>
+ <arg name="moveit_controller_manager"
+ default="pr2_moveit_controller_manager/Pr2MoveItControllerManager"/>
+ <param name="moveit_controller_manager"
+ value="$(arg moveit_controller_manager)"/>
+ <arg name="controller_manager_name"
+ default="pr2_controller_manager" />
+ <param name="controller_manager_name"
+ value="$(arg controller_manager_name)"/>
+
+ <arg name="use_controller_manager" default="false" />
+ <param name="use_controller_manager"
+ value="$(arg use_controller_manager)" />
+
+ <rosparam file="$(find ur5_moveit_config)/config/controllers.yaml"/>
</launch>
--
GitLab