From 82f8a738102d73c91826dc455511d846d1246743 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Sun, 7 Feb 2021 18:38:43 +0000
Subject: [PATCH 1/2] Add tolerances parameters per joint for jtc.

---
 .../config/ur_ros2_control.yaml                | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/ur_ros2_control_demos/config/ur_ros2_control.yaml b/ur_ros2_control_demos/config/ur_ros2_control.yaml
index 59892dbd5..0e8f0fc08 100644
--- a/ur_ros2_control_demos/config/ur_ros2_control.yaml
+++ b/ur_ros2_control_demos/config/ur_ros2_control.yaml
@@ -26,6 +26,24 @@ ur_joint_trajectory_controller:
     constraints:
       stopped_velocity_tolerance: 0.01
       goal_time: 0.0
+      shoulder_pan_joint:
+        trajectory: 0.05
+        goal:       0.03
+      shoulder_lift_joint:
+        trajectory: 0.05
+        goal:       0.03
+      elbow_joint:
+        trajectory: 0.05
+        goal:       0.03
+      wrist_1_joint:
+        trajectory: 0.05
+        goal:       0.03
+      wrist_2_joint:
+        trajectory: 0.05
+        goal:       0.03
+      wrist_3_joint:
+        trajectory: 0.05
+        goal:       0.03
 
 forward_command_controller_position:
   ros__parameters:

From 36fb32cca79aade86344def8ca6e8ef0d5583121 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Wed, 10 Feb 2021 22:47:02 +0000
Subject: [PATCH 2/2] Set stopped velocity tolerance to zero.

---
 .../config/ur_ros2_control.yaml               | 20 +------------------
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/ur_ros2_control_demos/config/ur_ros2_control.yaml b/ur_ros2_control_demos/config/ur_ros2_control.yaml
index 0e8f0fc08..76f8cfec9 100644
--- a/ur_ros2_control_demos/config/ur_ros2_control.yaml
+++ b/ur_ros2_control_demos/config/ur_ros2_control.yaml
@@ -24,26 +24,8 @@ 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
-      shoulder_pan_joint:
-        trajectory: 0.05
-        goal:       0.03
-      shoulder_lift_joint:
-        trajectory: 0.05
-        goal:       0.03
-      elbow_joint:
-        trajectory: 0.05
-        goal:       0.03
-      wrist_1_joint:
-        trajectory: 0.05
-        goal:       0.03
-      wrist_2_joint:
-        trajectory: 0.05
-        goal:       0.03
-      wrist_3_joint:
-        trajectory: 0.05
-        goal:       0.03
 
 forward_command_controller_position:
   ros__parameters: