Obbart/universal_robots_ros_driver
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e-series adaption

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This commit is contained in:
Felix Mauch
2019-06-03 17:28:01 +02:00
parent ac14f4337c
commit 118f938543
1 changed files with 3 additions and 3 deletions
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6
ur_rtde_driver/config/ur10_controllers.yaml
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@@ -44,12 +44,12 @@ pos_based_pos_traj_controller:
stopped_velocity_tolerance: 0.05 stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1} elbow_joint: {trajectory: 0.4, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1} wrist_1_joint: {trajectory: 0.4, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1} wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1} wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 125 state_publish_rate: 500
action_monitor_rate: 10 action_monitor_rate: 10
# state_publish_rate: 50 # Defaults to 50 # state_publish_rate: 50 # Defaults to 50