Allow nonzero velocity at trajectory end for ros2_controllers

moveit · Mar 10, 2024 · 195a26c · 195a26c
1 parent dad8633
commit 195a26c
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diff --git a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ left_arm_controller:
       - left_panda_joint5
       - left_panda_joint6
       - left_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 right_arm_controller:
   ros__parameters:
@@ -44,3 +45,4 @@ right_arm_controller:
       - right_panda_joint5
       - right_panda_joint6
       - right_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/fanuc_moveit_config/config/ros2_controllers.yaml b/fanuc_moveit_config/config/ros2_controllers.yaml
@@ -24,3 +24,4 @@ fanuc_controller:
       - joint_4
       - joint_5
       - joint_6
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/panda_moveit_config/config/ros2_controllers.yaml b/panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ panda_arm_controller:
       - panda_joint5
       - panda_joint6
       - panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 panda_hand_controller:
   ros__parameters: