From 4ca99f9e3374263e1f21cb86907d04680a4f8e1d Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Mon, 19 Mar 2018 11:54:46 +0100
Subject: [PATCH] Avoid MoveIt timeouts for gripper
---
CHANGELOG.md | 2 +-
franka_description/robots/hand.xacro | 4 ++--
franka_gripper/config/franka_gripper_node.yaml | 2 +-
panda_moveit_config/config/joint_limits.yaml | 10 ++++++++++
.../launch/trajectory_execution.launch.xml | 2 +-
5 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index a576401..0dcc9fc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,7 +12,7 @@
* Add `load_gripper` argument (default: `true`) to `panda_moveit.launch`
* Conditionally load controllers/SRDFs based on `load_gripper`
* Add gripper controller configuration (requires running `franka_gripper_node`)
- * Added `mimic` tag for gripper fingers to URDF
+ * Added `mimic` tag for gripper fingers to URDF and fixed velocity limits
## 0.3.0 - 2018-02-22
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index c00ef1a..1cd3777 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -51,14 +51,14 @@
<child link="${ns}_leftfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/>
+ <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="${ns}_finger_joint2" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_rightfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/>
+ <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="${ns}_finger_joint1" />
</joint>
</xacro:macro>
diff --git a/franka_gripper/config/franka_gripper_node.yaml b/franka_gripper/config/franka_gripper_node.yaml
index 8799cbd..195ec8f 100644
--- a/franka_gripper/config/franka_gripper_node.yaml
+++ b/franka_gripper/config/franka_gripper_node.yaml
@@ -5,4 +5,4 @@ joint_names:
default_speed: 0.1 # [m/s]
default_grasp_epsilon:
inner: 0.005 # [m]
- outer: 0.005 # [m]
\ No newline at end of file
+ outer: 0.005 # [m]
diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
index b254201..603067f 100644
--- a/panda_moveit_config/config/joint_limits.yaml
+++ b/panda_moveit_config/config/joint_limits.yaml
@@ -37,3 +37,13 @@ joint_limits:
max_velocity: 2.871
has_acceleration_limits: false
max_acceleration: 0
+ panda_finger_joint1:
+ has_velocity_limits: true
+ max_velocity: 0.1
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_finger_joint2:
+ has_velocity_limits: true
+ max_velocity: 0.1
+ has_acceleration_limits: false
+ max_acceleration: 0
diff --git a/panda_moveit_config/launch/trajectory_execution.launch.xml b/panda_moveit_config/launch/trajectory_execution.launch.xml
index b6c03c9..72906ef 100644
--- a/panda_moveit_config/launch/trajectory_execution.launch.xml
+++ b/panda_moveit_config/launch/trajectory_execution.launch.xml
@@ -7,7 +7,7 @@
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
- <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+ <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.5"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
--
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