From 5f09db0d78ce855040ed805156128c1f29b9c6df Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Mon, 8 Nov 2021 08:25:15 +0100 Subject: [PATCH] Define trajectory and goal constraints Fixes `GOAL_TOLERANCE_VIOLATED` error of `joint_trajectory_controller`. --- franka_gazebo/config/sim_controllers.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/franka_gazebo/config/sim_controllers.yaml b/franka_gazebo/config/sim_controllers.yaml index c5de5b9b8..6cdbe1730 100644 --- a/franka_gazebo/config/sim_controllers.yaml +++ b/franka_gazebo/config/sim_controllers.yaml @@ -12,6 +12,7 @@ franka_state_controller: - $(arg arm_id)_joint7 effort_joint_trajectory_controller: &default_trajectory_controller + # http://wiki.ros.org/joint_trajectory_controller#Parameters type: effort_controllers/JointTrajectoryController joints: - $(arg arm_id)_joint1 @@ -29,6 +30,15 @@ effort_joint_trajectory_controller: &default_trajectory_controller $(arg arm_id)_joint5: { p: 250, d: 10, i: 0 } $(arg arm_id)_joint6: { p: 150, d: 10, i: 0 } $(arg arm_id)_joint7: { p: 50, d: 5, i: 0 } + constraints: + goal_time: 0.1 + $(arg arm_id)_joint1: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint2: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint3: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint4: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint5: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint6: { trajectory: 0.01, goal: 0.001 } + $(arg arm_id)_joint7: { trajectory: 0.01, goal: 0.001 } # define default controller for panda_moveit_config: joint_trajectory_controller: *default_trajectory_controller