From 3993466f24e5060b2660c5cb82aa532e3d63d426 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 15 Jul 2019 08:44:43 +0200 Subject: [PATCH] set controller publish rates to 125 Hz for CB3 robots. --- ur_rtde_driver/config/ur10_controllers.yaml | 4 ++-- ur_rtde_driver/config/ur3_controllers.yaml | 4 ++-- ur_rtde_driver/config/ur5_controllers.yaml | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml index a294913..333dac8 100644 --- a/ur_rtde_driver/config/ur10_controllers.yaml +++ b/ur_rtde_driver/config/ur10_controllers.yaml @@ -42,7 +42,7 @@ scaled_pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10 pos_traj_controller: @@ -58,5 +58,5 @@ pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10 diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml index a294913..333dac8 100644 --- a/ur_rtde_driver/config/ur3_controllers.yaml +++ b/ur_rtde_driver/config/ur3_controllers.yaml @@ -42,7 +42,7 @@ scaled_pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10 pos_traj_controller: @@ -58,5 +58,5 @@ pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10 diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml index a294913..333dac8 100644 --- a/ur_rtde_driver/config/ur5_controllers.yaml +++ b/ur_rtde_driver/config/ur5_controllers.yaml @@ -42,7 +42,7 @@ scaled_pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10 pos_traj_controller: @@ -58,5 +58,5 @@ pos_traj_controller: wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 500 + state_publish_rate: 125 action_monitor_rate: 10