From 46e5f8b31df0ceab02919d950cea393c6aebc4f0 Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 26 Nov 2024 15:49:39 +0000 Subject: [PATCH] fixed typo (#227) (cherry picked from commit 70724d20c18224580277e8c0da680f9e953a5b32) --- lbr_description/ros2_control/lbr_system_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/lbr_description/ros2_control/lbr_system_config.yaml b/lbr_description/ros2_control/lbr_system_config.yaml index 8f96cf0d..604d1239 100644 --- a/lbr_description/ros2_control/lbr_system_config.yaml +++ b/lbr_description/ros2_control/lbr_system_config.yaml @@ -14,11 +14,11 @@ hardware: command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop] # exponential moving average time constant for external joint torque measurements [s]: # Set tau > robot sample time for more smoothing on the external torque measurements - # Set tau << robot sample time for more smoothing on the external torque measurements + # Set tau << robot sample time for no smoothing on the external torque measurements external_torque_tau: 0.04 # exponential moving average time constant for joint torque measurements [s]: # Set tau > robot sample time for more smoothing on the raw torque measurements - # Set tau << robot sample time for more smoothing on the raw torque measurements + # Set tau << robot sample time for no smoothing on the raw torque measurements measured_torque_tau: 0.04 open_loop: true # KUKA works the best in open_loop control mode