Lower rotational gains

With values higher that 40 for the rotational stiffness, the arm could start vibrating.
This commit sets more conservative gains with a maximum of 30.

franka_example_controllers/cfg/compliance_param.cfg

@@ -6,7 +6,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("translational_stiffness", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 20, 0, 100)
+gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30)
 gen.add("nullspace_stiffness", double_t, 0, "Stiffness of the joint space nullspace controller (the desired configuration is the one at startup)", 0, 0, 100)
 
 exit(gen.generate(PACKAGE, "dynamic_compliance", "compliance_param"))