ur_servo.yaml

###############################################
# Modify all parameters related to servoing here
###############################################

# Enable dynamic parameter updates
enable_parameter_update: true

## Properties of incoming commands
command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale:
  # Scale parameters are only used if command_in_type=="unitless"
  linear: 2.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
  rotational: 3.0 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
  joint: 2.0

# Default to driving the arm at 50% maximum speed.
override_velocity_scaling_factor: 0.5

## Properties of outgoing commands
publish_period: 0.01  # 1/Nominal publish rate [seconds]
max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds]

# What type of topic does your robot driver expect?
# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
command_out_type: trajectory_msgs/JointTrajectory

# What to publish? Can save some bandwidth as most robots only require positions or velocities
publish_joint_positions: true
publish_joint_velocities: true
publish_joint_accelerations: false

## Plugins for smoothing outgoing commands
use_smoothing: true
smoothing_filter_plugin_name: "moveit_pro::base::online_signal_smoothing::AccelerationLimitedPlugin"
acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter

## MoveIt properties
move_group_name: manipulator  # Often 'manipulator' or 'arm'
acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
monitored_planning_scene_topic: /monitored_planning_scene

## Stopping behaviour
incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command

## Configure handling of singularities and joint limits
lower_singularity_threshold: 30.0  # Start decelerating when the condition number hits this (close to singularity)
hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this
joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.

## Topic names
cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
joint_topic: /joint_states
status_topic: ~/status # Publish status to this topic
command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here

## Collision checking for the entire robot body
check_collisions: true  # Check collisions?
check_octomap_collisions: false  # Check collisions with octomap?
collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]