larc2021

butia-bots · Oct 15, 2021 · 15ed4c4 · 15ed4c4
1 parent 77da5e6
commit 15ed4c4
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Showing 2 changed files with 17 additions and 18 deletions.
diff --git a/doris_moveit_config/config/ros_controllers.yaml b/doris_moveit_config/config/ros_controllers.yaml
@@ -4,7 +4,7 @@ moveit_sim_hw_interface:
   joint_model_group_pose: home
 # Settings for ros_control_boilerplate control loop
 generic_hw_control_loop:
-  loop_hz: 300
+  loop_hz: 50
   cycle_time_error_threshold: 0.01
 # Settings for ros_control hardware interface
 hardware_interface:
@@ -62,15 +62,15 @@ arm_trajectory_controller:
       p: 100.0
       d: 0.0
       i: 10.0
-  constraints:
-    goal_time: 10.0
-    stopped_velocity_tolerance: 10.0
-    shoulder_joint: {goal: 0.2, trajectory: 0.2}
-    forearm_shoulder_joint: {goal: 0.2, trajectory: 0.2}
-    elbow_joint: {goal: 0.2, trajectory: 0.2}
-    roll_joint: {goal: 0.2, trajectory: 0.2}
-    yaw_joint: {goal: 0.2, trajectory: 0.2}
-    roll_2_joint: {goal: 0.2, trajectory: 0.2}
+  #constraints:
+  #  goal_time: 10.0
+  #  stopped_velocity_tolerance: 10.0
+  #  shoulder_joint: {goal: 0.2, trajectory: 0.2}
+  #  forearm_shoulder_joint: {goal: 0.2, trajectory: 0.2}
+  #  elbow_joint: {goal: 0.2, trajectory: 0.2}
+  #  roll_joint: {goal: 0.2, trajectory: 0.2}
+  #  yaw_joint: {goal: 0.2, trajectory: 0.2}
+  #  roll_2_joint: {goal: 0.2, trajectory: 0.2}
 gripper_trajectory_controller:
   type: effort_controllers/JointTrajectoryController
   action_ns: gripper_action
@@ -101,10 +101,10 @@ rail_trajectory_controller:
       p: 30000.0
       d: 0.0
       i: 10.0
-  constraints:
-    goal_time: 10.0
-    stopped_velocity_tolerance: 1.0
-    dorso_arm_base: {goal: 0.0}
+  #constraints:
+  #  goal_time: 10.0
+  #  stopped_velocity_tolerance: 1.0
+  #  dorso_arm_base: {goal: 0.0}
 initial:  # Define initial robot poses.
   - group: arm
     pose: home

diff --git a/doris_moveit_config/launch/gazebo.launch b/doris_moveit_config/launch/gazebo.launch
@@ -25,10 +25,9 @@
 
   <include file="$(find doris_moveit_config)/launch/ros_controllers.launch"/>
 
-  <node pkg="tf" type="static_transform_publisher" name="realsense_optical_broadcaster" args="0 0 0 -1.5708 0 -1.5708 realsense_link realsense_color_optical_frame 0.001">
-
-  </node>
+  <!--<node pkg="tf" type="static_transform_publisher" name="realsense_optical_broadcaster" args="0 0 0 -1.5708 0 -1.5708 realsense_link realsense_color_optical_frame 0.001">
+  </node>-->
 
-  <node name="grasp_event_republisher" pkg="gazebo_grasp_plugin_ros" type="grasp_event_republisher"></node>
+  <!--<node name="grasp_event_republisher" pkg="gazebo_grasp_plugin_ros" type="grasp_event_republisher"></node>-->
 
 </launch>