Performance Improvements #53
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maffettone
approved these changes
Dec 9, 2024
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Did we raise a bug with UR? |
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This PR takes care of three things.
1. Avoids the error in tolerance with respect to wrist 3 joint:
[ur_ros2_control_node-1] [ERROR] [1733772654.368572012] [tolerances]: State tolerances failed for joint 5: [ur_ros2_control_node-1] [ERROR] [1733772654.368591540] [tolerances]: Position Error: -6.283197, Position Tolerance: 0.200000 [ur_ros2_control_node-1] [WARN] [1733772654.368609103] [scaled_joint_trajectory_controller]: Aborted due to state tolerance violationThe reason is that the update on UR_ROS2_Description package allows the wrist 3 to be continuous, but the change is not propagated to the trajectory controller. Reverting to an earlier version of UR_ROS2_Description avoids the error.
Following two changes were part of a PR that did not got merged, but contain important changes that need to be merged with the main.
Introduces
ROS_DOMAIN_ID=10to force DDS to communicate on domain 10 for guaranteed communication across multiple nodes. In addition, the devcontainer.json file for VScode now connects to the host network.Removes loops around
lookupTransform()and use the functions inbuilt timer to time out if a tf server hangs infinitely.