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Increase cartesian planning timeout to accommodate slower machines #9
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,55 +1,55 @@ | ||
|
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| ur_manipulator: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| chonkur_grasp: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| chonkur_push1: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| chonkur_push2: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| chonkur_push_center: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| clr: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| lift: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| lr: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
| rail: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| epsilon: 0.0001 | ||
| solve_type: "Distance" | ||
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I think that Trac IK in distance mode will use the full time allotment for each solve - you can follow the param down to here (I am not 100% sure so would ask you to confirm that):
https://bitbucket.org/traclabs/trac_ik/src/56136bbdbab3f323dcf7fe2bb30e31ed4502cba8/trac_ik_lib/src/nlopt_ik.cpp#lines-591
So I am a bit loathe to up this across the board... But maybe it would be worth it to change these to speed?