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change joint_limits.yaml speed and change ompl_planning.yaml server

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This commit is contained in:
wangWking 2022-06-07 14:02:57 +08:00
parent 3623e0a3fc
commit 753fb1944d
2 changed files with 19 additions and 19 deletions
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36
mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
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@ -3,32 +3,32 @@
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits: joint_limits:
joint2_to_joint1: joint2_to_joint1:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30
joint3_to_joint2: joint3_to_joint2:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30
joint4_to_joint3: joint4_to_joint3:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30
joint5_to_joint4: joint5_to_joint4:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30
joint6_to_joint5: joint6_to_joint5:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30
joint6output_to_joint6: joint6output_to_joint6:
has_velocity_limits: false has_velocity_limits: true
max_velocity: 0 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 30

2
mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
View file

@ -121,7 +121,7 @@ planner_configs:
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
arm_group: arm_group:
default_planner_config: None default_planner_config: RRTConnect
planner_configs: planner_configs:
- SBL - SBL
- EST - EST