Obbart/universal_robots_ros_driver
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Code Releases Activity

set controller publish rates to 125 Hz for CB3 robots.

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This commit is contained in:
Felix Mauch
2019-07-15 08:44:43 +02:00
committed by Lea Steffen
parent 513ff9143d
commit 3993466f24
3 changed files with 6 additions and 6 deletions
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4
ur_rtde_driver/config/ur10_controllers.yaml
View File

@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10
pos_traj_controller: pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10

4
ur_rtde_driver/config/ur3_controllers.yaml
View File

@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10
pos_traj_controller: pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10

4
ur_rtde_driver/config/ur5_controllers.yaml
View File

@@ -42,7 +42,7 @@ scaled_pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10
pos_traj_controller: pos_traj_controller:
@@ -58,5 +58,5 @@ pos_traj_controller:
wrist_2_joint: {trajectory: 0.2, goal: 0.1} wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1} wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5 stop_trajectory_duration: 0.5
state_publish_rate: 500 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10