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Fix launch parameters in Servo demos #2735

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Merged
merged 3 commits into from
Mar 19, 2024
Merged

Fix launch parameters in Servo demos #2735

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1bc5edb
Fix launch parameters in Servo demos
sea-bass Mar 10, 2024
dd6a214
Merge branch 'main' into fix-servo-demos
sea-bass Mar 13, 2024
f688203
Merge branch 'main' into fix-servo-demos
sjahr Mar 19, 2024
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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/README.md
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Original file line number Diff line number Diff line change
@@ -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.
8 changes: 5 additions & 3 deletions moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = (
Expand Down Expand Up @@ -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,
Expand Down
8 changes: 5 additions & 3 deletions moveit_ros/moveit_servo/launch/demo_pose.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = (
Expand Down Expand Up @@ -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,
Expand Down
1 change: 1 addition & 0 deletions moveit_ros/moveit_servo/launch/demo_ros_api.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
Expand Down
8 changes: 5 additions & 3 deletions moveit_ros/moveit_servo/launch/demo_twist.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = (
Expand Down Expand Up @@ -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,
Expand Down