update parameters

Signed-off-by: Paul Gesel <[email protected]>
ros-controls · Feb 13, 2024 · f9a5a66 · f9a5a66
1 parent 1d626aa
commit f9a5a66
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/...troller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp b/...troller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp
@@ -114,7 +114,7 @@ void GripperActionController::accepted_callback(
   }
   else
   {
-    command_struct_.max_velocity_ = 0.0;
+    command_struct_.max_velocity_  = params_.max_velocity;
   }
   if (params_.use_effort_interface && !goal_handle->get_goal()->command.effort.empty())
   {
@@ -169,8 +169,8 @@ rclcpp_action::CancelResponse GripperActionController::cancel_callback(
 void GripperActionController::set_hold_position()
 {
   command_struct_.position_cmd_ = joint_position_state_interface_->get().get_value();
-  command_struct_.max_velocity_ = 0.0;
   command_struct_.max_effort_ = params_.max_effort;
+  command_struct_.max_velocity_ = params_.max_velocity;
   command_.writeFromNonRT(command_struct_);
 }
 
@@ -328,7 +328,7 @@ controller_interface::CallbackReturn GripperActionController::on_activate(
   // Command - non RT version
   command_struct_.position_cmd_ = joint_position_state_interface_->get().get_value();
   command_struct_.max_effort_ = params_.max_effort;
-  command_struct_.max_velocity_ = 0.0;
+  command_struct_.max_velocity_ = params_.max_velocity;
   command_.initRT(command_struct_);
 
   // Result

diff --git a/antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml b/antipodal_gripper_controller/src/antipodal_gripper_action_controller_parameters.yaml
@@ -20,8 +20,16 @@ antipodal_gripper_action_controller:
   }
   max_effort: {
     type: double,
-    default_value: 0.0,
-    description: "Max allowable effort",
+    default_value: 10.0,
+    description: "Default effort used for grasping (Newtons)",
+    validation: {
+      gt_eq: [ 0.0 ]
+    },
+  }
+  max_velocity: {
+    type: double,
+    default_value: 0.1,
+    description: "Default target velocity used for grasping (meters/second)",
     validation: {
       gt_eq: [ 0.0 ]
     },