Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Remove unused PID gain parameters from controller configuration.

Browse Source
This commit is contained in:
Miguel Prada
2016-08-29 10:35:33 +02:00
parent c044ae1973
commit 60278716cf
3 changed files with 0 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
config/ur5_controllers.yaml
View File

@@ -45,14 +45,6 @@ pos_based_pos_traj_controller:
stop_trajectory_duration: 0.5
state_publish_rate: 125
action_monitor_rate: 10
gains:
#!!These values have not been optimized!!
shoulder_pan_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
shoulder_lift_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
elbow_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
wrist_1_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
wrist_2_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
wrist_3_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20