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System config documentation typo #228

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Nov 26, 2024
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System config documentation typo #228

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4 changes: 2 additions & 2 deletions lbr_description/ros2_control/lbr_system_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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