Merge pull request #37 from PickNikRobotics/livanov/detail_jtc_params

Fix joint_trajectory_controller execution - set stopped_velocity_tolerance to zero
UniversalRobots · Feb 13, 2021 · 5ecb4be · 5ecb4be
2 parents d40e9c2 + 36fb32c
commit 5ecb4be
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ur_ros2_control_demos/config/ur_ros2_control.yaml b/ur_ros2_control_demos/config/ur_ros2_control.yaml
@@ -27,7 +27,7 @@ ur_joint_trajectory_controller:
     action_monitor_rate: 20.0
     allow_partial_joints_goal: false
     constraints:
-      stopped_velocity_tolerance: 0.01
+      stopped_velocity_tolerance: 0.0
       goal_time: 0.0
 
 forward_command_controller_position: