Increase cartesian planning timeout to accommodate slower machines#9
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nikkijhart wants to merge 2 commits intohumble-develfrom
Closed
Increase cartesian planning timeout to accommodate slower machines#9nikkijhart wants to merge 2 commits intohumble-develfrom
nikkijhart wants to merge 2 commits intohumble-develfrom
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eholum-nasa
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Nov 13, 2025
| ur_manipulator: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| kinematics_solver_timeout: 0.005 | ||
| kinematics_solver_timeout: 0.05 |
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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):
So I am a bit loathe to up this across the board... But maybe it would be worth it to change these to speed?
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@eholum-nasa Updated timeout based on further testing |
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Updated specifically for that one demo, here: NASA-JSC-Robotics/clr_sim_demos#7 I think this is good to close. |
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Fix for NASA-JSC-Robotics/clr_sim_demos#2. Hopefully this doesn't impact those with faster machines--in theory, this should be the upper limit, not the time required to plan. Maybe @eholum-nasa can test and verify?