Define trajectory and goal constraints

Fixes `GOAL_TOLERANCE_VIOLATED` error of `joint_trajectory_controller`.
rhaschke · Nov 8, 2021 · 5f09db0 · 5f09db0
1 parent 3f06e43
commit 5f09db0
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/franka_gazebo/config/sim_controllers.yaml b/franka_gazebo/config/sim_controllers.yaml
@@ -12,6 +12,7 @@ franka_state_controller:
  - $(arg arm_id)_joint7
 
 effort_joint_trajectory_controller: &default_trajectory_controller
+ # http://wiki.ros.org/joint_trajectory_controller#Parameters
  type: effort_controllers/JointTrajectoryController
  joints:
  - $(arg arm_id)_joint1
@@ -29,6 +30,15 @@ effort_joint_trajectory_controller: &default_trajectory_controller
  $(arg arm_id)_joint5: { p: 250, d: 10, i: 0 }
  $(arg arm_id)_joint6: { p: 150, d: 10, i: 0 }
  $(arg arm_id)_joint7: { p: 50, d: 5, i: 0 }
+ constraints:
+ goal_time: 0.1
+ $(arg arm_id)_joint1: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint2: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint3: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint4: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint5: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint6: { trajectory: 0.01, goal: 0.001 }
+ $(arg arm_id)_joint7: { trajectory: 0.01, goal: 0.001 }
 
 # define default controller for panda_moveit_config:
 joint_trajectory_controller: *default_trajectory_controller