70 lines
4.1 KiB
YAML
70 lines
4.1 KiB
YAML
###############################################
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# Modify all parameters related to servoing here
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###############################################
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use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
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## Properties of incoming commands
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command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
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scale:
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# Scale parameters are only used if command_in_type=="unitless"
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linear: 0.4 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
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rotational: 0.8 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
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# Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
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joint: 0.5
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## Properties of outgoing commands
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publish_period: 0.034 # 1/Nominal publish rate [seconds]
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low_latency_mode: true # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
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# What type of topic does your robot driver expect?
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# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
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command_out_type: trajectory_msgs/JointTrajectory
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# What to publish? Can save some bandwidth as most robots only require positions or velocities
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publish_joint_positions: true
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publish_joint_velocities: false
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publish_joint_accelerations: false
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## Incoming Joint State properties
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low_pass_filter_coeff: 2.0 # Larger --> trust the filtered data more, trust the measurements less.
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## MoveIt properties
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move_group_name: ar3_arm # Often 'manipulator' or 'arm'
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planning_frame: base_link # The MoveIt planning frame. Often 'base_link' or 'world'
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## Other frames
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ee_frame_name: link_6 # The name of the end effector link, used to return the EE pose
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robot_link_command_frame: base_link # commands must be given in the frame of a robot link. Usually either the base or end effector
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## Stopping behaviour
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incoming_command_timeout: 10.1 # Stop servoing if X seconds elapse without a new command
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# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
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# Important because ROS may drop some messages and we need the robot to halt reliably.
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num_outgoing_halt_msgs_to_publish: 4
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## Configure handling of singularities and joint limits
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lower_singularity_threshold: 170000.0 # Start decelerating when the condition number hits this (close to singularity)
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hard_stop_singularity_threshold: 300000.0 # Stop when the condition number hits this
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joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
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## Topic names
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cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands
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joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
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joint_topic: /joint_states
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status_topic: ~/status # Publish status to this topic
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command_out_topic: /joint_trajectory_controller/joint_trajectory # Publish outgoing commands here
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# command_out_topic: /gaycunts # Publish outgoing commands here
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## Collision checking for the entire robot body
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check_collisions: false # Check collisions?
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collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
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# Two collision check algorithms are available:
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# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
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# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
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collision_check_type: threshold_distance
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# Parameters for "threshold_distance"-type collision checking
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self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
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scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
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# Parameters for "stop_distance"-type collision checking
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collision_distance_safety_factor: 1000.0 # Must be >= 1. A large safety factor is recommended to account for latency
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min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
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