From 118f9385439e707cd27bd6c26486d238e9f780c7 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 3 Jun 2019 17:28:01 +0200 Subject: [PATCH] e-series adaption --- ur_rtde_driver/config/ur10_controllers.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml index ec08f84..8687fc9 100644 --- a/ur_rtde_driver/config/ur10_controllers.yaml +++ b/ur_rtde_driver/config/ur10_controllers.yaml @@ -44,12 +44,12 @@ pos_based_pos_traj_controller: stopped_velocity_tolerance: 0.05 shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.4, goal: 0.1} + wrist_1_joint: {trajectory: 0.4, goal: 0.1} wrist_2_joint: {trajectory: 0.1, goal: 0.1} wrist_3_joint: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 125 + state_publish_rate: 500 action_monitor_rate: 10 # state_publish_rate: 50 # Defaults to 50