From 1bc5edb520a58ad062ac569d7cdd2c57a9d1ac21 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Sun, 10 Mar 2024 10:20:15 -0400 Subject: [PATCH] Fix launch parameters in Servo demos --- moveit_ros/moveit_servo/README.md | 2 +- moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py | 8 +++++--- moveit_ros/moveit_servo/launch/demo_pose.launch.py | 8 +++++--- moveit_ros/moveit_servo/launch/demo_ros_api.launch.py | 1 + moveit_ros/moveit_servo/launch/demo_twist.launch.py | 8 +++++--- 5 files changed, 17 insertions(+), 10 deletions(-) diff --git a/moveit_ros/moveit_servo/README.md b/moveit_ros/moveit_servo/README.md index 3bd2a95969..0a8c1203df 100644 --- a/moveit_ros/moveit_servo/README.md +++ b/moveit_ros/moveit_servo/README.md @@ -1,3 +1,3 @@ -# Moveit Servo +# MoveIt Servo See the [Realtime Arm Servoing Tutorial](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html) for installation instructions, quick-start guide, an overview about `moveit_servo`, and to learn how to set it up on your robot. diff --git a/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py b/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py index 62404efc2a..4ed51a26cb 100644 --- a/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py +++ b/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py @@ -22,8 +22,9 @@ def generate_launch_description(): .to_dict() } - # This filter parameter should be >1. Increase it for greater smoothing but slower motion. - low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5} + # This sets the update rate and planning group name for the acceleration limiting filter. + acceleration_filter_update_period = {"update_period": 0.01} + planning_group_name = {"planning_group_name": "panda_arm"} # RViz rviz_config_file = ( @@ -104,7 +105,8 @@ def generate_launch_description(): executable="demo_joint_jog", parameters=[ servo_params, - low_pass_filter_coeff, + acceleration_filter_update_period, + planning_group_name, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, diff --git a/moveit_ros/moveit_servo/launch/demo_pose.launch.py b/moveit_ros/moveit_servo/launch/demo_pose.launch.py index f2a77201e9..348dbe5c48 100644 --- a/moveit_ros/moveit_servo/launch/demo_pose.launch.py +++ b/moveit_ros/moveit_servo/launch/demo_pose.launch.py @@ -22,8 +22,9 @@ def generate_launch_description(): .to_dict() } - # This filter parameter should be >1. Increase it for greater smoothing but slower motion. - low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5} + # This sets the update rate and planning group name for the acceleration limiting filter. + acceleration_filter_update_period = {"update_period": 0.01} + planning_group_name = {"planning_group_name": "panda_arm"} # RViz rviz_config_file = ( @@ -104,7 +105,8 @@ def generate_launch_description(): executable="demo_pose", parameters=[ servo_params, - low_pass_filter_coeff, + acceleration_filter_update_period, + planning_group_name, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, diff --git a/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py b/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py index ac008bfb66..b2d7699dc1 100644 --- a/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py +++ b/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py @@ -31,6 +31,7 @@ def generate_launch_description(): # This sets the update rate and planning group name for the acceleration limiting filter. acceleration_filter_update_period = {"update_period": 0.01} planning_group_name = {"planning_group_name": "panda_arm"} + # RViz rviz_config_file = ( get_package_share_directory("moveit_servo") diff --git a/moveit_ros/moveit_servo/launch/demo_twist.launch.py b/moveit_ros/moveit_servo/launch/demo_twist.launch.py index 4c4867fb82..d95300dad8 100644 --- a/moveit_ros/moveit_servo/launch/demo_twist.launch.py +++ b/moveit_ros/moveit_servo/launch/demo_twist.launch.py @@ -22,8 +22,9 @@ def generate_launch_description(): .to_dict() } - # This filter parameter should be >1. Increase it for greater smoothing but slower motion. - low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5} + # This sets the update rate and planning group name for the acceleration limiting filter. + acceleration_filter_update_period = {"update_period": 0.01} + planning_group_name = {"planning_group_name": "panda_arm"} # RViz rviz_config_file = ( @@ -104,7 +105,8 @@ def generate_launch_description(): executable="demo_twist", parameters=[ servo_params, - low_pass_filter_coeff, + acceleration_filter_update_period, + planning_group_name, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics,