[moveit] Disable execution_duration_monitoring by default

Felix Exner · Felix Exner · commit 61d519588544 · 2024-10-08T21:13:04.000+02:00
diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -188,6 +188,8 @@ def launch_setup(context, *args, **kwargs):
         "trajectory_execution.allowed_execution_duration_scaling": 1.2,
         "trajectory_execution.allowed_goal_duration_margin": 0.5,
         "trajectory_execution.allowed_start_tolerance": 0.01,
+        # Execution time monitoring doesn't make sense with the scaled JTC
+        "trajectory_execution.execution_duration_monitoring": False,
     }
 
     planning_scene_monitor_parameters = {

Original file line number	Diff line number	Diff line change
`@@ -188,6 +188,8 @@ def launch_setup(context, args, *kwargs):`
`188`	`188`	`"trajectory_execution.allowed_execution_duration_scaling": 1.2,`
`189`	`189`	`"trajectory_execution.allowed_goal_duration_margin": 0.5,`
`190`	`190`	`"trajectory_execution.allowed_start_tolerance": 0.01,`
	`191`	`+ # Execution time monitoring doesn't make sense with the scaled JTC`
	`192`	`+ "trajectory_execution.execution_duration_monitoring": False,`
`191`	`193`	`}`
`192`	`194`
`193`	`195`	`planning_scene_monitor_parameters = {`