From 195a26c7cdc3d64b461f58d7d6501db39f8ba166 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Sun, 10 Mar 2024 10:18:30 -0400 Subject: [PATCH] Allow nonzero velocity at trajectory end for ros2_controllers --- dual_arm_panda_moveit_config/config/ros2_controllers.yaml | 2 ++ fanuc_moveit_config/config/ros2_controllers.yaml | 1 + panda_moveit_config/config/ros2_controllers.yaml | 1 + 3 files changed, 4 insertions(+) diff --git a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml index 0f889680..e01bb165 100644 --- a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml +++ b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml @@ -28,6 +28,7 @@ left_arm_controller: - left_panda_joint5 - left_panda_joint6 - left_panda_joint7 + allow_nonzero_velocity_at_trajectory_end: true right_arm_controller: ros__parameters: @@ -44,3 +45,4 @@ right_arm_controller: - right_panda_joint5 - right_panda_joint6 - right_panda_joint7 + allow_nonzero_velocity_at_trajectory_end: true diff --git a/fanuc_moveit_config/config/ros2_controllers.yaml b/fanuc_moveit_config/config/ros2_controllers.yaml index f70562e6..85a3e456 100644 --- a/fanuc_moveit_config/config/ros2_controllers.yaml +++ b/fanuc_moveit_config/config/ros2_controllers.yaml @@ -24,3 +24,4 @@ fanuc_controller: - joint_4 - joint_5 - joint_6 + allow_nonzero_velocity_at_trajectory_end: true diff --git a/panda_moveit_config/config/ros2_controllers.yaml b/panda_moveit_config/config/ros2_controllers.yaml index 6d6bef48..38d7439e 100644 --- a/panda_moveit_config/config/ros2_controllers.yaml +++ b/panda_moveit_config/config/ros2_controllers.yaml @@ -28,6 +28,7 @@ panda_arm_controller: - panda_joint5 - panda_joint6 - panda_joint7 + allow_nonzero_velocity_at_trajectory_end: true panda_hand_controller: ros__parameters: