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Allow nonzero velocity at trajectory end for ros2_controllers #198

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merged 1 commit into from
Mar 11, 2024
Merged

Allow nonzero velocity at trajectory end for ros2_controllers #198

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2 changes: 2 additions & 0 deletions dual_arm_panda_moveit_config/config/ros2_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -44,3 +45,4 @@ right_arm_controller:
- right_panda_joint5
- right_panda_joint6
- right_panda_joint7
allow_nonzero_velocity_at_trajectory_end: true
1 change: 1 addition & 0 deletions fanuc_moveit_config/config/ros2_controllers.yaml
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Expand Up @@ -24,3 +24,4 @@ fanuc_controller:
- joint_4
- joint_5
- joint_6
allow_nonzero_velocity_at_trajectory_end: true
1 change: 1 addition & 0 deletions panda_moveit_config/config/ros2_controllers.yaml
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Expand Up @@ -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:
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