Merge pull request #66 in SWDEV/franka_ros from...

Merge pull request #66 in SWDEV/franka_ros from lower-rotational-gains-cartesian-impedance to develop

* commit '52122947':
  Update changelog
  Lower rotational gains

CHANGELOG.md

@@ -5,6 +5,7 @@
 Requires `libfranka` >= 0.2.0
 
   * Added missing dependency to `franka_example_controllers`
+  * Lowered rotational gains for Cartesian impedance example controller
 
 ## 0.2.0 - 2018-01-29
 

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"))