From 2d026bc4638e38c728cc635bc0f3c14b875a547b Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Wed, 9 Oct 2024 11:58:07 +0200 Subject: [PATCH] [moveit] Add config for trajectory execution and disable execution monitoring by default (#1132) With the scaled JTC execution time monitoring doesn't make much sense as long as MoveIt is not aware of the trajectory scaling. --- ur_moveit_config/config/moveit_controllers.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ur_moveit_config/config/moveit_controllers.yaml b/ur_moveit_config/config/moveit_controllers.yaml index 34e4194c7..a55d0d486 100644 --- a/ur_moveit_config/config/moveit_controllers.yaml +++ b/ur_moveit_config/config/moveit_controllers.yaml @@ -1,6 +1,12 @@ # MoveIt uses this configuration for controller management moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager +trajectory_execution: + allowed_execution_duration_scaling: 1.2 + allowed_goal_duration_margin: 0.5 + allowed_start_tolerance: 0.01 + execution_duration_monitoring: false # Not much use when using the scaled JTC + moveit_simple_controller_manager: controller_names: - scaled_joint_trajectory_controller