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[moveit] Add config for trajectory execution and disable execution mo… #1132

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Oct 9, 2024
Merged

[moveit] Add config for trajectory execution and disable execution mo… #1132

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6 changes: 6 additions & 0 deletions ur_moveit_config/config/moveit_controllers.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

trajectory_execution:
allowed_execution_duration_scaling: 1.2
allowed_goal_duration_margin: 0.5
allowed_start_tolerance: 0.01
execution_duration_monitoring: false # Not much use when using the scaled JTC

moveit_simple_controller_manager:
controller_names:
- scaled_joint_trajectory_controller
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