Obbart/universal_robots_ros_driver
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Tweaked ur5 PID controller values. Fixes #27

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Thomas Timm Andersen
2016-02-19 11:59:19 +01:00
parent 56b4c6bae1
commit c05f16c8e9
1 changed files with 6 additions and 6 deletions
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12
config/ur5_controllers.yaml
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@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
action_monitor_rate: 10
gains:
#!!These values are useable, but maybe not optimal
shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_pan_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
elbow_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20