Add tolerances parameters per joint for jtc.

UniversalRobots · Feb 7, 2021 · 82f8a73 · 82f8a73
1 parent b7dde30
commit 82f8a73
Showing 1 changed file with 18 additions and 0 deletions.
diff --git 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: